• Journal of the Institute of Electronics Engineers of Korea SP
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• v.45 no.5
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• pp.63-71
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• 2008

In this paper, we propose a color based hierarchically propagated particle filter that extends the color based particle filter into the articulated upper body tracking. Since color feature is robust to partial occlusion and rotation, the color based particle filter is widely used for object tracking. However, in articulated body tacking, it is not desirable to use the traditional particle filter because the dimension of the state vector usually is high and thus, many samples are required for robust hacking. To overcome this problem, we use a hierarchical tracking method for each body part based on the blown body part. By using a hierarchical tracking method, we can reduce the number of samples for robust tracking in the cluttered environment. Also for human pose recognition, we classify the human pose into eight categories using Support Vector Machine(SVM) according to the angle between upper- arm and fore-arm. Experimental results show that our proposed method is more efficient than the traditional particle filter.

• The KIPS Transactions:PartB
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• v.10B no.5
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• pp.561-566
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• 2003

This paper proposes a new algorithm that generates smooth and realistic transition views from one viewpoint to another view point on the panorama based navigation system. The proposed algorithm is composed with two steps. One is prewarping that aligns the viewing direction in two panorama image, the other is bidirectional disparity morphing (BDM) that generates the intermediate scene from the aligned panorama images. For the prewarping, first of all, we compute the phase correlation between two images in order to get the information such as the displacement, rotation, and scale. Then we align the original images using these information. As soon as finishing the prewarping, we compute the block based disparity vectors (DVs) and smooth them using the two occluding patterns. As we apply these DVs to the BDM, we can get the elaborate intermediate scenes. We make an experiment on the proposed algorithm with real panoramic images and we can get the satisfactory results.

• Journal of the Korea Society of Computer and Information
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• v.18 no.1
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• pp.185-192
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• 2013

The development of hardware, popularization of 3D graphics software could get to easily use 3d graphics tool in the school. And learning difficulties of a shape section increased through more being enforced a shape section of an elementary school. Thus we try to improve learning effectiveness in a shape section using Sketech Up software. To do this, we analyzed existing studies, classified 3D graphics software, provided the selection criteria of vector graphics software. And we explained how to select 3D graphics software. We selected and reorganized the shape contents to use Sketch Up, which make and rotate 3D figures, understand aspects of a shape. And we inserted the content about piling 3D figures in the beginning state of the curriculum. we composed 10 periods and practiced our reorganized curriculum to the teaching and learning using Sketch Up. And we conducted before & after survey to check out t-verified. And we acquired meaningful results statistically. Thus applying Sketch Up to the shape learning can be analyzed effectively.

• Journal of KIISE:Software and Applications
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• v.31 no.5
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• pp.605-616
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• 2004

A new practical implementation of a facial verification system using cumulative histogram of surface curvatures for the local and contour line areas is proposed, in this paper. The approach works by finding the nose tip that has a protrusion shape on the face. In feature recognition of 3D face images, one has to take into consideration the orientated frontal posture to normalize after extracting face area from the original image. The feature vectors are extracted by using the cumulative histogram which is calculated from the curvature of surface for the contour line areas: 20, 30 and 40, and nose, mouth and eyes regions, which has depth and surface characteristic information. The L1 measure for comparing two feature vectors were used, because it was simple and robust. In the experimental results, the maximum curvature achieved recognition rate of 96% among the proposed methods.

• Journal of KIISE:Software and Applications
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• v.31 no.5
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• pp.563-569
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• 2004

A set of Zernike moments has been successfully used for object recognition or content-based image retrieval systems. Real time applications using Zernike moments, however, have been limited due to its complicated definition. Conventional methods to compute Zernike moments fast have focused mainly on the radial components of the moments. In this paper, utilizing symmetric/anti-symmetric properties of Zernike basis functions, we propose a fast and efficient method for Zernike moments. By reducing the number of operations to one quarter of the conventional methods in the proposed method, the computation time to generate Zernike basis functions was reduced to about 20% compared with conventional methods. In addition, the amount of memory required for efficient computation of the moments is also reduced to a quarter. We also showed that the algorithm can be extended to compute the similar classes of rotational moments, such as pseudo-Zernike moments, and ART descriptors in same manner.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.7 no.6
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• pp.1064-1071
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• 2006

In electric motor coaches, the rolling stocks move by the adhesive effort between rail and driving wheel. Generally, the adhesive effort is defined by the function of both the weight of electric motor coach and the adhesive effort between rails and driving wheel. The characteristics of adhesive effort is strongly affected by the conditions between rails and driving wheel. When the adhesive effort decreases suddenly, the electric motor coach has slip phenomena. This paper proposes a re-adhesion control based on disturbance observer and sensor-less vector control. The numerical simulation and experimental results point out that the proposed readhesion control system has the desired driving wheel torque response for the tested bogie system of electric coach. Based on this estimated adhesive effort, the re-adhesion control is performed to obtain the maximum transfer of the tractive effort.

• Journal of the Earthquake Engineering Society of Korea
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• v.2 no.1
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• pp.35-46
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• 1998

Structural damage is used to be modeled through reductions in the stiffness of structural elements for the purpose of damage estimation of structural system. In this study, the concept of joint damage is employed for more realistic damage assessment of a steel structure. The joint damage is estimated damage based on the mode shape informations using neural networks, The beam-to-column connection in a steel frame structure is represented by a rotational spring at the fixed end of a beam element. The severity of joint damage is defined as the reduction ratio of the connection stiffness with respect to the value of the intact joint. The concept of the substructural identification is used for the localized damage assessment in a large structure. The feasibility of the proposed method is examined using an example with simulated data. It has been found that the joint damages can be reasonably estimated for the case with the measurements of the mode vectors subjected to noise.

• Journal of Advanced Navigation Technology
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• v.26 no.2
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• pp.78-84
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• 2022

In this paper, we propose a closed-form based 3D localization method in the presence of multiple signal sources. General localization methods such as TDOA, AOA, and FDOA can estimate a location when a single signal source exists. When there are multiple unknown signal sources, there is a limit in estimating the location. The proposed method calculates a cross-correlation vector of signals received by sensors having an array antenna, and estimates TDOA and AOA values from the cross-correlation values. Then, the coordinate transformation is performed using the position of the reference sensor. Then, the coordinate rotation is performed using the estimated AOA value for the transformed coordinates, and then the three-dimensional position of each emitter is estimated. The proposed method verifies its performance through computer simulation.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.9
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• pp.307-313
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• 2012

This paper proposes a hand-eye laser range finder (LRF) based welding plane recognition method for autonomous robotic welding. The robot welding is the process of joining a metal piece and the welding plane along the welding path predefined by the shape of the metal piece. Thus, for successful robotic welding, the position and direction of the welding plane should be exactly detected. If the detected position and direction of the plane is not accurate, the autonomous robotic welding should fail. For precise recognition of the welding plane, a line on the plane is detected by the LRF. For obtaining the line on the plane, the Hough transform is applied to the obtained data from the LRF. Since the Hough transform is based on the voting method, the sensor noise can be reduced. Two lines on the plane are obtained before and after rotation of the robot joint, and then the direction of the plane is calculated by the cross product of two direction vectors of two lines. For verifying the feasibility of the proposed method, the simulation with the robot simulator, RoboticsLab developed by Simlab Co. Ltd., is carried out.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.9 no.1
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• pp.1-8
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• 2008

We propose how to program the off-line buffing robot path along shoes' outsole shape in the footwear buffing process by a 5-axis microscribe system like robot mechanism. The microscribe system we developed consists of a 5-axis robot link with a turn table, a signal processing unit, PC and an application software program. Itmakes a robot path on the shoes' upper in accordance with the movement of a microscribe with many joints. The developed system calculates the encoder pulse values for the microscribe arm's rotation and transmits the angle pulse values to the PC through a processing unit. Denavit-Hartenberg's(D-H) direct kinematics is used to make the global coordinate from microscribe joint one. Problems with the microscribe's kinematics can be solved efficiently and systematically by D-H representation. With the coordinate values calculated by D-H equation, our system can draw a buffing gauge-line on the upper sole. We obtain shoes' outline points, which are 2 outlines coupled with the points and the normal vector based on the points. By applying the system to the buffing robot in a flexible manufacturing system, it can be used effectively to program the path of a real buffing robot.