제25권 제7호 2019년 7월 ISSN 2383-6318(Print)

ISSN 2383-6326(Online)

정보과학회 컴퓨팅의 실제 논문지

KIISE Transactions on Computing Practices
VOLUME 25, NUMBER 7, JULY 2019

블록체인 기반의 분산형 테스트 관리 도구 ···················································································· 추현지, 송인혜, 최병주 321

머신러닝 기술을 사용한 비트코인 특성들의 비트코인 가격에 미친 영향 분석 ··················································· 윤성욱 329

uC/OS-II 운영체제의 보안 개선을 위한 자체 코드 무결성 검증 기법 ·································· 한승재, 김규식, 조성제 335

5G 초과밀 네트워크에서 협력적 모바일 에지 컴퓨테이션 ················································ 호씬 엠디 딜로와르, 허의남 344

오프로딩의 성능 분석

단편 논문
자율주행 로봇을 위한 영상 기반 자가 탐색 시스템 연구 ······························· 고 티엔 투, 나엑 엠디 알람깃, 허의남 351

매니코어 시스템을 위한 MPI 노드 내 통신 프리미티브 성능 비교 ························································· 조중연, 진현욱 357

버퍼 오버플로우 디버깅 플랫폼의 메모리 오버헤드 분석 ···························· 최영호, 권재욱, 정석재, 박한섭, 엄영익 363

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 KIISE Transactions on Computing Practices
VOLUME 25, NUMBER 7, JULY 2019

A Decentralized Test Management Tool Based on··························· Hyun-Ji Chu, Inhae Song, Byoungju Choi 321

Blockchain Technique

Analyzing Impact of Bitcoin Features to Bitcoin Price via·································································· Seongwook Youn 329

Machine Learning Techniques

A Self-Code Integrity Verification Technique for·························· Seungjae Han, Gyoosik Kim, Seong-je Cho 335

Improving the Security of uC/OS-II Operating System

Performance Analysis of Collaborative Mobile Edge····································· Md Delowar Hossain, Eui-Nam Huh 344

Computation Offloading in 5G Ultra-Dense Networks

Short Papers
An Effective Vision-based Self-Navigation System·················································· Ngo Thien Thu, Md Abu Layek 351

for Autonomous Indoor Vehicle Eui Nam Huh

Performance Comparison of MPI Intra-node Communication······················· Joong-Yeon Cho, Hyun-Wook Jin 357

Primitives for Manycore System

Analysis of Memory Overhead for Buffer Overflow···················· Youngho Choi, Jaeook Kwon, Seokjae Jeong 363

Debugging Platform Hansub Park, Young Ik Eom

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 ISSN 2383-6318(Print) / ISSN 2383-6326(Online)
KIISE Transactions on Computing Practices, Vol. 25, No. 7, pp. 351-356, 2019. 7
https://doi.org/10.5626/KTCP.2019.25.7.351

자율주행 로봇을 위한 영상 기반
자가 탐색 시스템 연구
(An Effective Vision-based Self-Navigation System
for Autonomous Indoor Vehicle)

† † †
†
고 티엔 투 나엑 엠디 알람깃 허 의 남
(Ngo Thien Thu) (Md Abu Layek) (Eui Nam Huh)

요 약 스마트 시티는 스마트 빌딩의 개발에서부터 시작해 인간 삶의 질 향상을 목표로 발전해 나가

고 있다. 특히, 자율주행 실내 로봇은 스마트 빌딩의 운영을 위한 혁신적인 요소가 될 것으로 예측된다.
이를 실현하기 위해 본 논문에서는 영상 기반의 센싱 및 하드웨어 제어 메커니즘을 활용한 자가 탐색형
이동 로봇을 개발하였다. 먼저, 복도의 양 끝 가장자리를 슬라이딩 윈도우 라인 검출 방법을 이용하여 인
식하게 되면, 방향 가중치 알고리즘을 통해 복도의 가운데를 인식해 로봇의 방향을 예측할 수 있게 된다.
본 제안 기법을 실제 로봇에 제안 탐색 기법을 적용하여 다양한 실험을 진행한 결과 실시간으로 자율주행
로봇이 장애물 회피가 가능함을 보였다.
키워드: 자가 탐색, 네비게이션 시스템, 자율주행로봇, 로봇 공학

Abstract The advancements in a smart city have paved a way towards the development of smart
buildings with an aim to improve the resident environment and quality of life. Apparently, autonomous
indoor robots are considered as a critical factor for the operation of smart buildings. In the present
work, we have developed a self-navigation system for mobile robots that utilize vision-based sensing
and hardware control mechanism. First, sliding window line detection method is used to find the
polynomial fit to two lines of the hallway, and then direction weight estimation algorithm predicts the
direction of the robot with respect to the center of the two estimated lines. The results relying on real
robot experiments show that the proposed navigation system can enhance the in-front obstacle for the
real-time task in autonomous indoor robots.
Keywords: self-navigation, autonomous mobile robot, navigation system, robotics

․This research was supported by the MSIT(Ministry of Science and ICT), 논문접수 : 2019년 3월 29일
Korea, under the ICT Consilience Creative program(IITP-2019-2015- (Received 29 March 2019)
0-00742) supervised by the IITP(Institute for Information & commu- 논문수정 : 2019년 5월 20일
nications Technology Planning & Evaluation) (Revised 20 May 2019)
․이 논문은 제45회 한국소프트웨어종합학술대회에서 ‘An Efficient Navigation 심사완료 : 2019년 5월 21일
Method for Self-Driving Robot in Hallway Environment’의 제목으로 (Accepted 21 May 2019)
발표된 논문을 확장한 것임
CopyrightⒸ2019 한국정보과학회ː개인 목적이나 교육 목적인 경우, 이 저작물
† 비 회 원 : 경희대학교 컴퓨터공학과 의 전체 또는 일부에 대한 복사본 혹은 디지털 사본의 제작을 허가합니다. 이 때,
thu.ngo@khu.ac.kr 사본은 상업적 수단으로 사용할 수 없으며 첫 페이지에 본 문구와 출처를 반드시
layek@khu.ac.kr 명시해야 합니다. 이 외의 목적으로 복제, 배포, 출판, 전송 등 모든 유형의 사용행위
†† 종신회원 : 경희대학교 컴퓨터공학과 교수(Kyung Hee Univ.) 를 하는 경우에 대하여는 사전에 허가를 얻고 비용을 지불해야 합니다.
johnhuh@khu.ac.kr 정보과학회 컴퓨팅의 실제 논문지 제25권 제7호(2019. 7)
(Corresponding author임)

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352 정보과학회 컴퓨팅의 실제 논문지 제 25 권 제 7 호(2019. 7)
1. Introduction
With the proliferation of smart cities, modern
technologies such as internet of things, sensors,
artificial intelligence, robotics process automation are
expected to provide various services as they offer the
potential for increased productivity, and positive
impact in human living environments[1]. In the auto-
mation area, mobile service robots are designed to
interact with people and gradually enter daily life in
many areas such as hospitality, healthcare, ware-
house. Recently, we have seen significant efforts in
developing robots in both sensing and computing
technologies[2]. With the continued improvement
computer vision, and distributed cloud computing, the
utilizations of mobile service robots are increasing
faster than any other time.
One of the most critical tasks in mobile service
robots is to design a good navigation system for a
particular environment. However, the design will be
complicated due to several factors such as the com-
plexity of the surrounding or incomplete perceptual
information. In this case, the navigation system is
expected to adapt effectively to the changes in the
environment (obstacles avoiding, control ability, safe
distance to the target). In cope with these problems,
vision-based navigation systems combine vision sen-
sors in robots and the structure of the environment
to enhance the performance. These systems can be
divided into two categories: system using prior
knowledge (map), systems based on the conditions of
the environment (mapless)[3,10-12]. In mapless navi-
gation systems, there is no guide from the prior
strategy, the robots can operate by analyzing the
required information about the surrounding in the
environment. Mapless navigation system can be classi-
fied into various kind of techniques, for example,
optical flow, appreance-based, object recognition based
on feature tracking[4,5].
In this paper, we implement an effective mapless
navigation system for an autonomous indoor robot/
vehicle in hallway environments. The overall system
consists of three main components: pre-processing,
hallway line detection, and the direction weight value
estimation for robot navigation. According to the
designed, the robot is integrated into a real product
as a running base with a control system. This paper
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focuses on the navigation implementation to enhance
obstacle avoidance task that combines the hardware
control mechanism and image processing algorithm.
The key constraint is that the robot must be safe
and effective to human and property.
The paper is organized as follows, in section 2 we
present the overall design of the proposed system.
Section 3 describes the mapless navigation system
for an autonomous mobile robot. Section 4 shows the
experiment results, following by conclusion in section 5.
2. The Overall Navigation System
The system consists of three main components:
Pre-processing, Hallway Line Detection, and Direction
Weight Estimation Algorithm (DWEA). The figure of
the overall autonomous system is shown in the
Figure 1. Robot scans and analyzes the perceptual
information of the surrounding area. With the com-
bination of PSD, Sonar sensors and the direction
weight estimation module, robots can avoid the
obstacle and send the command to ATMega128 board
for the navigation process.
Fig. 1 The overview of the proposed method
3. The Proposed Algorithm
3.1 Image Processing
The camera captures frames and records the area
in front of the robot. We observed that the hallway
line areas have an identical structure, dark color,
however they are in different point of view and
appearance in the captured frame. Therefore, the
proposed pre-processing includes HSV color space
conversion, ROI extraction, image filtering as shown
in Figure 2. The upper half region of the frame is
removed to reduce the computation time because the
system focuses on the corridor lines.
3.2 Hallway Line Detection
The line detection is performed on the binary image
 자율주행 로봇을 위한 영상 기반 자가 탐색 시스템 연구 353

lines of the hallway, we add up pixels along each

pixel column in the binary image. The two highest
peaks in the histogram will become starting locations
for the base of each line. From the base, the sliding
window is created to find the polynomial fit and
follow up the lines up to top of the frame.
3.3 Direction Weight Estimation (DWE) Algorithm
Fig. 2 The pre-processing pipeline
Robot direction can be predicted by the weight
value which is calculated based on the current
which is the output of the pre-processing step. This
location of the robot with respect to the center of two
part consists of various mathematical methods that
detected lines. We map the weight value into range
intend to identify two lines from the left and right
from 1 to 9 for further processing in ATMega128. If the
wall of the hallway. Many researchers have been
weight value is greater than 5, the robot position is in
working on this topic, and most of them try to solve
the right direction of the hallway. The opposite
the problem using the state of the art method Hough
direction happens when the weight value is less than
Transform (HT). However, the disadvantage of
5. If the weight value is equal to 5, it means the robot
Hough Transform is that they are expensive when
direction is going straightforward. We assume that
the parameters increase, and they are unable to iden-
the camera is positioned at the center of the robot or
tify the endpoints of the line segment[6,7]. In this
its center is located in the center of the frame. The
section, we describe the new process for finding two
line center is computed as the mean value between
lines of the hallway and propose a new method to
the base of left and right lines, and the offset is the
enhance the navigation process.
difference of the robot center to the line center. The
∙Perspective Warping for getting Bird’s Eye view
details can be found in Algorithm 1.
The Bird’s Eye View transformation [8] is the
process to generate the top view perspective of the
image. From the observation that the image has a
perspective which causes two lines of the hallway to
appear like they are converging at the distance even
though they are parallel to each other. By removing
the perspective from the image, it helps to detect the
curvature of the hallway lines easier. Figure 3 shows
the image that has distored lines and the desired
image after removing the distortion using Perspec-
tive transformation.

Fig. 3 The distored image (left) and the desired image

without distortion (right)

∙Sliding Window Line Detection

In the binary image, the value of each pixel is
either 1 or 0. In order to generate the base of two

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354 정보과학회 컴퓨팅의 실제 논문지 제 25 권 제 7 호(2019. 7)

4. Experiments 5 for the center position while it has small oscillation

In order to verify the effectiveness of the proposed
system, several experiments were performed in the
hallway of our university. The whole system was
implemented on OpenCV 4.0.1 with Python 3, Visual
Studio 2017, PC Configuration (Win 8.1 64bits, Intel
Core i5, RAM 16GB).
∙Experiment 1: Offline Testing
The dataset is collected from the photos taken at
Computer Engineering Building, Kyung Hee Univer-
sity. We place the camera at three positions of the
hallway, the scenario is illustrated on Figure 4. The
output images are shown in Figure 5. The experi-
ments show that system returned weight value exactly
in the result for the left and right position. We
performed on different images in the video sequence,
the results show the average processing time for the
first 50 frames is about 12 miliseconds. The testing
performance result is shown in Figure 6.
∙Experiment 2: Go Live
The navigation system is integrated into a real robot
for checking the performance in real-time environment.
The sample image of the robot is shown in Figure 7.
We perform the experiment as a running base for
other works. The scenario is the experiment of robot
movement to perform obstacle avoidance when they
move along the corridor under normal light condition.
The navigation system is integrated into a real

(a) left side (b) center side (c) right side

Fig. 4 An example scenario of robot position in DWE Agorithm

(a) (b)

(c) (d)
Fig. 5 (a) Input frame (b) Output binary image (c) Sliding window on unwarped image (d) Output image

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 자율주행 로봇을 위한 영상 기반 자가 탐색 시스템 연구
Fig. 6 Processing time for each frame in the video
Fig. 7 The real robot in our lab
robot for checking the performance in real-time
environment. The sample image of the robot is shown
in Figure 7. We perform the experiment as a running
base for other works. The scenario is the experiment
of robot movement to perform obstacle avoidance when
they move along the corridor under normal light
condition.
There are two objects are placed randomly in the
hallway. PSD and sonar sensors are combined to
make robot have more accurately sensing range for
avoiding obstacles. The sonar sensors have its advan-
tage in detecting small objects over long distance,
while PSD sensors have strong perceive ability of
short-range objects[9]. Our observation is that the
proposed navigation system can improve the effiency
for obstacles avoiding task by the combination of
DWE algorithm and hardware control mechanism.
The weight estimation module helps robot localize its
position with respect to the left and right line of the
hallway. The generated weight value is sent to board
ATMega128, and the control command is sent to the
wheels mechanism, therefore, robot can navigate to
the left, right or center direction.
We deploy the whole system on Raspberry Pi, as
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355
the result, the performance relies on the computing
resources of this platform. Although Raspberry Pi
can be easily mounted on the robot, we have to take
into account the constraint in the computing resource.
However, the system can meet realtime performance
as if they are deploying in GPU/CPU core. In furture
work, we are planing to incorporate the proposed
navigation system into an ioT framekwork for mobile
robot in indoor environment.
5. Conclusions
Vision-based navigation is potentially the most
advanced technique in providing a reliable mobile
robot system. In this paper, we have introduced a
new algorithm for improving robot navigation process
in hallway environment. The experiments show that
robot integrated with DWE module can avoid the
obstacles as well when they move along the corridor.
The system can perform tasks in real-time when
testing on PC; however it tends to consume lot of
computation times when we deploy on Raspberry Pi
due to the limited resources of this platform.
References
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Ngo Thien Thu received BS degree

in management information system
from Viet Nam National University,
Ho Chi Minh City, in 2010. She is
currently pursuing the combined ph.D.
Degree in the department of Computer
Science and Engineering, Kyung Hee
University, Her research interests include Video/Image
Processing, Video Streaming in Realtime Environment.

Md. Abu Layek received his B.Sc.

and M.Sc. degrees from Information
and Communication Engineering depart-
ment, Islamic University, Bangladesh
in 2004 and 2006 respectively. He is an
Assistant Professor in the department
of Computer Science and Engineering,
Jagannath University, Dhaka, Bangladesh. At present, he
is pursuing his Ph.D. in Computer Science and Engi-
neering, Kyung Hee University, Republic of Korea. His
current research interest includes Cloud Computing,
Virtual Desktop Infrastructure, Internet of Things and
Ubiquitous Computing.

Eui-Nam Huh has earned BS degree

from Busan National University in
Korea, Master’s degree in Computer
Science from University of Texas,
USA in 1995 and Ph. D degree from
the Ohio University, USA in 2002. He
is a member of IEEE and Review
Board of National Research Foundation of Korea. He has
also served many community services for ICCSA,
WPDRTS/IPDPS, APAN Sensor Network Group,
ICUIMC, ICONI, APIC-IST, ICUFN, SoICT as various

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