• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.10a
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• pp.94-97
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• 2004

독립된 자율로봇에서 머신비젼의 구동을 위해 본 논문에서는 DARS(Distributed Autonomous Robotic System)에 적용하기 위한 디지털 이미지 프로세싱을 연구하고, DARS의 개별 로봇에 이를 임베디드화하는 것을 연구한다. 따라서 로봇을 구동하기 위해 필요한 데이터를 CMOS 카메라로부터 수신하여 영상을 스캔한 후, 원영상을 신경망 알고리즘을 통해 클러스터링하여 필요한 데이터를 추출한다. 또 이를 사용자 컴퓨터 단말기 상에 디스플레이하고, 최종적으로 DARS의 자율 이동 로봇이 영상 데이터를 인지하여 특정한 선택 동작을 수행하도록 한다.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.9
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• pp.133-141
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• 2002

In this paper, we propose a hierarchical motion controller with stand-alone vision system to enhance the flexibility of the robot soccer system. In addition, we simplified the model of dynamic environments of the robot using petri-net and simple state diagram. Based on the proposed model, we designed the robot soccer system with velocity and position controller that includes 4-level hierarchically structured controller. Some experimental results using the stand-alone vision system from host system show improvement of the controller performance by reducing processing time of vision algorithm.

• Proceedings of the Korea Information Processing Society Conference
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• 2005.05a
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• pp.855-858
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• 2005

본 시스템은 어항 속의 물고기 움직임을 추적하기 위해 직교식 스테레오 비젼 시스템(Othogonal Stereo Vision System)으로부터 동시에 독립된 영상을 획득하고 획득된 영상을 처리하여 좌표를 얻어내고 3차원 좌표로 생성해내는 시스템이다. 제안하는 방법은 크게 두 대의 카메라로부터 동시에 영상을 획득하는 방법과 획득된 영상에 대한 처리 및 물체 위치 검출, 그리고 3차원 좌표 생성으로 구성된다. Frame Grabber를 사용하여 초당 8-Frame의 두 개의 영상(정면영상, 상면영상)을 획득하며, 실시간으로 갱신하는 배경영상과의 차영상을 통하여 이동객체를 추출하고, Labeling을 이용하여 Clustering한 후, Cluster의 중심좌표를 검출한다. 검출된 각각의 좌표를 직선방정식을 이용하여 3차원 좌표보정을 수행하여 이동객체의 좌표를 생성한다.

• Proceedings of the Korea Information Processing Society Conference
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• 2005.11a
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• pp.1433-1436
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• 2005

임베디드 시스템의 발전으로 현재 진보된 로봇 시스템들은 운영 체제, 비젼 시스템 및 센서 시스템들을 별도의 호스트 PC의 도움 없이 독립적으로 탑재하여 가동 시킬 수 있다. 본 논문에서는 임베디드 시스템을 이용한 SBER (Small Biped Entertainment Robot)에 필요한 로봇의 제어기 구조와 로봇에 최적화된 임베디드 시스템을 구현한다. 또한 주 프로세서와 주 컨트롤러를 탑재한 최적화된 소형 엔터테인먼트 이족 로봇 개발을 목적으로 한다. SBER은 TI사의 DSP인 TMS320LF2407A를 로봇의 주 컨트롤러로 사용하여 로봇의 관절 제어를 통한 기본적인 보행 실험과 음원의 위치를 파악하기 위한 음원 위치 추적 문제를(Sound Localization) 수행한다. 또한 Intel사의 PXA255A를 주 프로세서로 사용하여 연산량이 높은 영상처리 알고리즘과 감정 표현, 장애물 인식 및 장애물 회피를 적용하여 보다 지능적인 로봇 시스템을 구현한다.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.321-322
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• 2007

본 논문은 네트워크을 통한 원격제어 시스템을 구축하는 연구로써 무선 랜과 AP를 이용하여 독립 무선 네트워크를 구축하고, 이동로봇의 주변 환경에 대한 레이저 센서정보와 영상정의를 전송한다. 그리고 스테레오 카메라와 Head Mounted Display를 사용하여 원격지에서 입체감 있는 영상을 보며 조작을 할 수 있게 하였으며, Head Motion Tracking를 이용해 이동로봇의 카메라를 별도의 조작 없이 컨트롤 가능하도록 방법을 제안하였다.

• Journal of Broadcast Engineering
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• v.14 no.1
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• pp.93-98
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• 2009

While the Motion JPEG2000 has been considered as a unique encoder for digital cinema due to its high quality coding and large screen format, the realization of a digital cinema system and its service cost enormous fund and time. In this paper a digital cinema transmission system with PC and RTP protocol over the Internet is proposed, and showed how tiles of moving images are transmitted, decoded independently and combined to reconstruct and display at a large screen for digital cinema service. The simulation has been carried out for tiles of 128${\times}$128, 256${\times}$256, 512${\times}$512, and 1024${\times}$1024 pixels. In the experiment, two clients of PC’s received and decoded tiles of video and constructed whole size of moving images successfully. The PSNR’s of the video ranges 30dB to 40dB at compression rate of 160:1 and 30dB to 50dB at and below 16:1, respectively. The result showed a possibility for the reconstruction of video in multi-vision.

• Journal of Korea Multimedia Society
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• v.7 no.11
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• pp.1597-1609
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• 2004

A lot of lipreading system has been proposed to compensate the rate of speech recognition dropped in a noisy environment. Previous lipreading systems work on some specific conditions such as artificial lighting and predefined background color. In this paper, we propose a real-time lipreading system which allows the motion of a speaker and relaxes the restriction on the condition for color and lighting. The proposed system extracts face and lip region from input video sequence captured with a common PC camera and essential visual information in real-time. It recognizes utterance words by using the visual information in real-time. It uses the hue histogram model to extract face and lip region. It uses mean shift algorithm to track the face of a moving speaker. It uses PCA(Principal Component Analysis) to extract the visual information for learning and testing. Also, it uses HMM(Hidden Markov Model) as a recognition algorithm. The experimental results show that our system could get the recognition rate of 90% in case of speaker dependent lipreading and increase the rate of speech recognition up to 40～85% according to the noise level when it is combined with audio speech recognition.

• Korean Journal of Heritage: History & Science
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• v.37
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• pp.371-405
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• 2004

International circulation of cultural assets involves numerous countries thereby making an approach based on international law essential to resolving this problem. Since the end of the $2^{nd}$ World War, as the value of cultural assets evolved from material value to moral and ethical values, with emphasis on establishing national identities, newly independent nations and former colonial states took issue with ownership of cultural assets which led to the need for international cooperation and statutory provisions for the return of cultural assets. UNESCO's 1954 "Convention for the Protection of Cultural Property in the Event of Armed Conflict" as preparatory measures for the protection of cultural assets, the 1970 "Convention on the Means of Prohibiting and Preventing the Illicit Import and Transfer of Ownership of Cultural Property" to regulate transfer of cultural assets, and the 1995 "Unidroit Convention on Stolen or Illegally Exported Cultural Objects" which required the return of illegally acquired cultural property are examples of international agreements established on illegal transfers of cultural assets. In addition, the UN agency UNESCO established the Division of Cultural Heritage to oversee cultural assets related matters, and the UN since its 1973 resolution 3187, has continued to demonstrate interest in protection of cultural assets. The resolution 3187 affirms the return of cultural assets to the country of origin, advises on preventing illegal transfers of works of art and cultural assets, advises cataloguing cultural assets within the respective countries and, conclusively, recommends becoming a member of UNESCO, composing a forum for international cooperation. Differences in defining cultural assets pose a limitation on international agreements. While the 1954 Convention states that cultural assets are not limited to movable property and includes immovable property, the 1970 Convention's objective of 'Prohibiting and preventing the illicit import, export and transfer of ownership of cultural property' effectively limits the subject to tangible movable cultural property. The 1995 Convention also has tangible movable cultural property as its subject. On this point, the two conventions demonstrate distinction from the 1954 Convention and the 1972 Convention that focuses on immovable cultural property and natural property. The disparity in defining cultural property is due to the object and purpose of the convention and does not reflect an inherent divergence. In the case of Korea, beginning with the 1866 French invasion, 36 years of Japanese colonial rule, military rule and period of economic development caused outflow of numerous cultural assets to foreign countries. Of course, it is neither possible nor necessary to have all of these cultural properties returned, but among those that have significant value in establishing cultural and historical identity or those that have been taken symbolically as a demonstration of occupational rule can cause issues in their return. In these cases, the 1954 Convention and the ratification of the first legislation must be actively considered. In the return of cultural property, if the illicit acquisition is the core issue, it is a simple matter of following the international accords, while if it rises to the level of diplomatic discussions, it will become a political issue. In that case, the country requesting the return must convince the counterpart country. Realizing a response to the earnest need for preventing illicit trading of cultural assets will require extensive national and civic societal efforts in the East Asian area to overcome its current deficiencies. The most effective way to prevent illicit trading of cultural property is rapid circulation of information between Interpol member countries, which will require development of an internet based communication system as well as more effective deployment of legislation to prevent trading of illicitly acquired cultural property, subscription to international conventions and cataloguing collections.