• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.17 no.2
• /
• pp.299-306
• /
• 2016

In this paper, a method of shape prediction of an endoscope handling robot that can imitate a surgeon's behavior using a sensor network is suggested. Unit sensors, which are composed of a 3-axis magnetometer and 3-axis accelerometer pair comprise the network through CAN bus communication. Each unit of the sensor is used to detect the angle of the points in the longitudinal direction of the robot, which is made from a flexible tube. The signals received from the sensor network were filtered using a low pass Butterworth filter. Here, a Butterworth filter was designed for noise removal. Finally, the Euler angles were extracted from the signals, in which the noise was filtered by the low path Butterworth filter. Using this Euler angle, the position of each sensor on the sensor network is estimated. The robot body was assumed to consist of links and joints. The position of each sensor can be assumed to be attached to the center of each link. The position of each link was determined using the Euler angle and kinematics equation. The interpolation was carried out between the positions of the sensors to be able to connect each point smoothly and obtain the final posture of the endoscope in operation. The experimental results showed that the shape of the colonoscope can be visualized using the Euler angles evaluated from the sensor network suggested and the shape of serial link estimated from the kinematics chain model.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.44 no.3
• /
• pp.48-60
• /
• 2007

In previous researches for iris feature extraction, they transform a original iris image into rectangular one by stretching and interpolation, which causes the distortion of iris patterns. Consequently, it reduce iris recognition accuracy. So we are propose the method that extracts iris feature by using polar coordinates without distortion of iris patterns. Our proposed method has three strengths compared with previous researches. First, we extract iris feature directly from polar coordinate circular iris image. Though it requires a little more processing time, there is no degradation of accuracy for iris recognition and we compares the recognition performance of polar coordinate to rectangular type using by Hamming Distance, Cosine Distance and Euclidean Distance. Second, in general, the center position of pupil is different from that of iris due to camera angle, head position and gaze direction of user. So, we propose the method of iris feature detection based on polar coordinate circular iris region, which uses pupil and iris position and radius at the same time. Third, we overcome override point from iris patterns by using polar coordinates circular method. each overlapped point would be extracted from the same position of iris region. To overcome such problem, we modify Gabor filter's size and frequency on first track in order to consider low frequency iris patterns caused by overlapped points. Experimental results showed that EER is 0.29%, d' is 5,9 and EER is 0.16%, d' is 6,4 in case of using conventional rectangular image and proposed method, respectively.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.31 no.7C
• /
• pp.691-699
• /
• 2006

Despite of the in-depth effort to cantrol the variability in IP networks, quality of service (QoS) is still not guaranteed in the IP networks. Thus, it is necessary to deal with the audible artifacts caused by packet lasses. To overcame the packet loss problem, most speech coding standard have their own embedded packet loss concealment (PLC) algorithms which adapt extrapolation methods utilizing the dependency on adjacent frames. Since many low bit rate CELP coders use predictive schemes for increasing coding efficiency, however, error propagation occurs even if single packet is lost. In this paper, we propose an efficient PLC algorithm with consideration about the speech characteristics of lost frames. To design an efficient PLC algorithm, we perform several experiments on investigating the error propagation effect of lost frames of a predictive coder. And then, we summarize the impact of packet loss to the speech characteristics and analyze the importance of the encoded parameters depending on each speech classes. From the result of the experiments, we propose a new PLC algorithm that mainly focuses on reducing the error propagation time. Experimental results show that the performance is much higher than conventional extrapolation methods over various frame erasure rate (FER) conditions. Especially the difference is remarkable in high FER condition.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 1999.11a
• /
• pp.260-265
• /
• 1999

멀티빔 음향측심기(Multibeam Echo Sounder)는 기존의 단빔 음향측심기(Singlebeam Echo Sounder)와 달리 탐사선 진행방향의 수직(Crosstrack)으로 해저면을 주사(Swath)하여, 한 번의 송수신(Ping)으로 다중의 빔 자료 - 수심, 후방산란된 음압(Backscattered Amplitude), 사이드 스캔 소나(Side Scan Sonar) 자료 - 를 취득하는 장비이다. 멀티빔 음향 측심기를 이용한 해저면 탐사의 경우, 수심이 변함에 따라 주사폭(Swath width)이 변화하고, 각 빔의 수평 해상도(Footprint)는 수심과 더불어 빔폭(Beam width)에 의하여 동적으로 변화한다. 멀티빔 음향 측심기는 해저면을 전역탐사 할 수 있을 뿐만 아니라, 연속된 음향 탐사를 통하여 이웃한 핑 사이에 발생하는 전방중첩영역(Endlap)과 이웃 측선(Trackline)을 따라 겹쳐지는 측방중첩영역(Sidelap)의 자료들을 이용하여 멀티 뎀 자료들의 전반적인 정확도 및 신뢰도를 평가할 수 있다. 본 논문은 수로 측량(Hydrographic Survey)에서 사용되는 멀티빔 음향 측심기를 운영하여 얻어진 측심 자료를 처리하는 알고리즘 개발에 관한 연구이다. 본 논문에서는 L3사의 Sea Beam 2100 벌티빔 음향 측심기를 대상으로, 멀티빔의 측심 원리와 해저 지형에 대한 일반적 이해를 통하여 획득된 측심 자료의 통계적 특성을 파악하고, 오측심된 수심 자료를 제거하는 방법을 제안하며, 측심 구간의 대표격자 크기를 결정하는 기준을 제시한다. 또한, 항공원격탐사에서 고도 추정시 사용되고 있는, 평균보간법, 가중평균 보간법과, 본 논문에서 제안하는 격자 대표값 선정 알고리즘(Gridding Algorithms)의 결과를 비교하고, 최종적으로 얻어지는 해저 수치지형모델(DEM, Digital Elevation Model)과 후방산란 영상을 제시한다. 빠른 한지형잔디들이 지표면을 피복하도록 하고 여름의 고온기와 장마시기에는 뿌리전단력이 우수한 이러한 초종들로 지표면이 피복되도록 하는 것이 이상적이라 생각된다. 4. 혼파처리간의 토사유출량을 비교한 결과 토사 유출 억제효과는 한지형과 나지형잔디들의 혼합형(MixtureIII)과 자생처리구(MixtureV), Italian ryegrass와 자생식물의 혼합형(MixtureIV)등에서 비교적 낮은 수치를 토사유출량을 기록하였다. 이러한 결과는 자생식물들이 비록 초기생육속도는 외래도입초종에 떨어지지만 토사유출의 억제효과면에서는 이들 외래초종에 필적할 수 있음을 나타낸다고 할 수 있겠다.중량이 약 115kg/$m^2$정도로 나타났다.소 들(환경의 의미, 사람의 목적과 지식)보다 미학적 경험에 주는 영향이 큰 것으로 나타났으며, 모든 사람들에게 비슷한 미학적 경험을 발생시키는 것 이 밝혀졌다. 다시 말하면 모든 사람들은 그들의 문화적인 국적과 사회적 인 직업의 차이, 목적의 차이, 또한 환경의 의미의 차이에 상관없이 아름다 운 경관(High-beauty landscape)을 주거지나 나들이 장소로서 선호했으며, 아름답다고 평가했다. 반면에, 사람들이 갖고 있는 문화의 차이, 직업의 차 이, 목적의 차이, 그리고 환경의 의미의 차이에 따라 경관의 미학적 평가가 달라진 것으로 나타났다.corner$적 의도에 의한 경관구성의 일면을 확인할수 있지만 엄밀히 생각하여 보면 이러한 예의 경우도 최락의 총체적인 외형은 마찬가지로 $\ulcorner$순응$\lrcorner$의 범위를 벗어나지 않는다. 그렇기 때문에도 $\ulcorner$순응$\lrcorner$과 $\ulcorner$표현$\lrcorner$의 성격과 형태를 외형상으로 더욱이 공간상에서는 뚜렷하게 경계

• KIPS Transactions on Software and Data Engineering
• /
• v.1 no.2
• /
• pp.103-108
• /
• 2012

Recently, as the prevalence of high-performance mobile devices and the application of the multimedia content are expanded, Super Resolution (SR) technique which reconstructs low resolution images to high resolution images is becoming important. And in the mobile devices, the development of the SR algorithm considering the operation quantity or memory is required because of using the restricted resources. In this paper, we propose a new single frame fast SR technique suitable for mobile devices. In order to prevent color distortion, we change RGB color domain to HSV color domain and process the brightness information V (Value) considering the characteristics of human visual perception. First, the low resolution image is enlarged by the improved fast back projection considering the noise elimination. And at the same time, the reliable edge map is extracted by using the LoG (Laplacian of Gaussian) filtering. Finally, the high definition picture is reconstructed by using the edge information and the improved back projection result. The proposed technique removes effectually the unnatural artefact which is generated during the super resolution restoration, and the edge information which can be lost is amended and emphasized. The experimental results indicate that the proposed algorithm provides better performance than conventional back projection and interpolation methods.

• Journal of Broadcast Engineering
• /
• v.21 no.1
• /
• pp.66-75
• /
• 2016

In this paper, we present a new method to reduce crosstalk of a glasses-free three-dimensional (3D) display using a multi-view image processing technique. Since crosstalk makes the current view image mixed with its neighboring ones, the output 3D image becomes severely blurred. We apply adaptive depth retargeting and view gradient-based crosstalk inverse filtering onto a multi-view image to minimize crosstalk of the glasses-free 3D display. In addition, overflow and underflow pixels are compensated by epipolar image pixel interpolation so that visual artifacts are minimized. Experimental results show that the proposed method reduces crosstalk more efficiently than the previous work while improving 3D image quality.

• 한국HCI학회:학술대회논문집
• /
• 2009.02a
• /
• pp.2072-2072
• /
• 2009

최근 연구들에서, 증강 현실(Augmented Reality; AR) 환경에서의 촉각 상호작용에 대한 가능성이 논의되었다. 비젼 기반의 트래킹을 기초로 한 증강 현실 기술은 미리 정의된 2차원 마커(marker)를 이용하여, 카메라로부터 획득된 실시간 영상 위에 가상 물체를 증강한다. 그러나, 카메라로부터 획득된 데이터는 몇몇 오차 요인들, 예를 들어 마커의 위치를 인식하는데 나타나는 오차, 카메라 안에 존재하는 센서 잡음 등으로 인해서 마커 잡음(마커를 인식하면서 나타나는 잡음)이 불가결하게 발생하게 된다. 이러한 이유로 인해서, 사용자가 한 손에는 마커를, 다른 한 손으로는 촉감 장치를 이용하여, 마커에 증강된 물체를 만질 때, 마커 잡음은 힘의 떨림(force trembling)을 발생시킨다. 심지어, 이러한 현상은 정지된 마커에 증강된, 마커가 움직이지 않는 상황에서도 발생한다. 게다가, 마커 위에 증강된 물체가 약간 빠른 속도로 이동하게 될 경우, 측정된 이동 거리는 연속적인 프레임(frame)들 간의 불연속적일 수 있다. 만약 사용자가, 대략 30Hz로 위치와 방향이 갱신되는 가상물체를 촉각적으로 상호작용하려 한다면, 계산되는 반력은 급작스런 힘의 변화를 생성하게 될 수도 있다. 이러한 현상을 극복하기 위해서, 마커 잡음을 최소화하기 위해서 정적 임계값(constant threshold)을 이용할 뿐만 아니라, 보간법을 같이 사용한 방법이 있었다. 하지만, 이러한 방법은 정적 임계값을 이용하고, 영상 프레임 갱신 속도와(video frame rate)와 촉각 프레임 갱신 속도가 일정하다는 가정을 사용하였기 때문에, 여전히 힘의 불연속적인 발생이 나타난다. 따라서, 이 논문에서는 두 가지 방법을 이용하여 증강 현실 내에서, 발생할 수 있는 힘의 불연속적인 변화를 보정하는 두 가지 방법, 잡음 제거를 위한 확장된 칼만 필터(Extend Kalman Filter)와 영상과 촉각 갱신 속도 차이에 따른 갑작스런 힘의 변화를 제거하기 위한 적응적 외삽법(Adaptive Extrapolation method)을 제안한다.

• Journal of KIISE:Computer Systems and Theory
• /
• v.34 no.5_6
• /
• pp.228-237
• /
• 2007

displacement mapping enables us to add realistic details to polygonal meshes without changing geometry. We present a real-time artifacts-free inverse displacement mapping method. In each pixel, we construct a ray and trace the ray through the displacement map to find an intersection. To skip empty regions safely, we traverse the image pyramid of displacement map in top-down order. Furthermore, when the displacement map is enlarged, intersection with bilinear interpolated displacement map can be found. When the displacement map is at distance, our method supports mipmap-like prefiltering to enhance image quality and speed. Experimental results show that our method can produce correct images even at grazing view angles. Rendering speed of a test scene is over hundreds of frames per second and the influence of resolution of displacement map to rendering speed is little. Our method is simple enough to be added to existing virtual reality systems easily.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.31 no.5C
• /
• pp.503-511
• /
• 2006

H.264 adopts new coding tools such as intra-prediction, loop filter, etc. The adoption of these tools enables an H.264-coded bitstream to have more information compared with previous standards. In this paper we proposed an effective spatial error concealment method for H.264. Among the information included in an H.264-coded bitstream, we use intra-mode for recovering a damaged block. This is because prediction direction in intra-mode is highly correlated to the edge direction of a lost macroblock. We first estimate the edge direction using intra-modes of blocks adjacent to a lost macroblock, and classify the area in a damaged macroblock into the edge and the flat area. And then our method recovers pixel values in the edge area using edge-directed interpolation, and recovers pixel values in the flat area using weighted interpolation. Simulation results show the proposed method yields better video quality than conventional approaches by 0.35 to 5.48 dB.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.8 no.2
• /
• pp.9-20
• /
• 1998

In this paper, a new distance relaying scheme is proposed. Artificial neural networks are applied to the distance relaying system composed of pattern recognition based. The proposed distance relaying scheme has two blocks of pattern recognition stages to estimate the fundamental frequency and to classify the fault types. In the first block, a filtering method using neural networks called a neural networks mapping filter(NMF) is presented to efficiently extract the features. And in the sec'ond block, the estimator called neural networks fault pattern estimator(NFPE) is also presented to classify the fault types by the extracted effective features obtained from NMF. Each block of these applied schemes is trained by back-propagation algorithm of multilayer perceptron and show the fast and accurate pattern recognition by ability of multilayer neural networks. The test result of this approach are obtained the good performance from the fault transient wave signals of EMTP(e1ectromagnetic transients program) in the various fault conditions of power systems.