• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.16 no.5
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• pp.315-324
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• 2023

In this paper, we propose a real-time pose estimation method for a monocular camera using a particle filter integrated with UKF (unscented Kalman filter). While conventional camera tracking techniques combine camera images with data from additional devices such as gyroscopes and accelerometers, the proposed method aims to use only two-dimensional visual information from the camera without additional sensors. This leads to a significant simplification in the hardware configuration. The proposed approach is based on a particle filter integrated with UKF. The pose of the camera is estimated using UKF, which is defined individually for each particle. Statistics regarding the camera state are derived from all particles of the particle filter, from which the real-time camera pose information is computed. The proposed method demonstrates robust tracking, even in the case of rapid camera shakes and severe scene occlusions. The experiments show that our method remains robust even when most of the feature points in the image are obscured. In addition, we verify that when the number of particles is 35, the processing time per frame is approximately 25ms, which confirms that there are no issues with real-time processing.

• Proceedings of the Acoustical Society of Korea Conference
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• 1998.06c
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• pp.357-360
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• 1998

DS/CDMA system rejected narrow-band interference and additional White Gaussian noise which are occured at multipath, intentional jammer and multiuser to share same bandwidth in mobile communication systems. Because of having not sufficiently obtained processing gain which is related to system performance, they were not effectively suppressed. In this paper, an matched filter channel model using backpropagation neural network based on complex multilayer perceptron is presented for suppressing interference of narrow-band of direct sequence spread spectrum receiver in DS/CDMA mobile communication systems. Recursive least square backpropagation algorithm with backpropagation error is used for fast convergence and better performance in matched filter receiver scheme. According to signal noise ratio and transmission power ratio, computer simulation results show that bit error ratio of matched filter using backpropagation neural network improved than that of RAKE receiver of direct sequence spread spectrum considering of con-channel and narrow-band interference.

• Journal of information and communication convergence engineering
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• v.8 no.1
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• pp.112-115
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• 2010

The heart rate is the most important vital sign in diagnosing heart status. The simple method to measure the heart rate in the mobile healthcare device is using the PPG signal. In developing the mobile healthcare device using the PPG signal, the most important issue is the inaccuracy of the measured heart rate because the PPG signal is distorted from the user's motions. To improve the problem, this study proposed the new method that is to estimate the heart rate without an additional sensor in real life. The proposed method in this study is using the histogram filter. In order to evaluate the performance of the proposed method, the study compares its results with the moving average method in motion environment. According to the experimental results, the performance of the proposed method was more than 40% better than the performances of the MAF.

• The Journal of Korea Robotics Society
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• v.7 no.4
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• pp.276-283
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• 2012

Due to the low localization accuracy and the requirement of special infrastructure, current LBS(Localization Based Service) is limited to show P.O.I.(Point of Interest) nearby. Improvement of IMU(Inertial Measurement Unit) based deadreckoning is presented in this paper. Additional sensors such as the magnetic compass and magnetic flux sensors are used as well as the accelerometer and the gyro for getting more information of movement. Based on the pedestrian movement, appropriate sensor information is selected and the complementary filter is used in order to enhance the accuracy of the localization.

• Journal of the Korean Society of Combustion
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• v.15 no.3
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• pp.25-31
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• 2010

Combined technique of burner and DOC has been used for regeneration of Diesel Particulate Filter. Experiments has been performed to increase the temperature of engine exhaust gas to burn the collected soot in DPF at all conditions of operation of 3 liter diesel engine. Ignition temperature of soot can be successfully obtained by heats of burner flame and residual fuel oxidation at diesel oxidation catalyst even in the condition of oxygen deficiency. It is found that the load of air compressor and heat loss can be reduced to the level of practical application. It is also found that CO and THC emissions are not increase by additional combustion of regeneration burner.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.9 no.2
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• pp.62-69
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• 1984

The performance of direct-sequence spread spectrum(DS-SS) receiver may be enhanced by using the digital whitening filter. In this paper, the hard limited feedback whitening filter that whiten the interference and noise alone is proposed to obtain the additional resistance to narrowband interference. The recursive solution for the calculation of tap weights is presented and the expression for SNR and BER is derived and compared with the conventional digital whitening filter. As the result of computer simulation it is proved that the error performance is improved considerably.

• Journal of Mechanical Science and Technology
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• v.18 no.2
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• pp.253-261
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• 2004

A simple and effective filtering method to control the member size of an optimized structure is proposed for topology optimization. In the present approach, the original objective sensitivities are replaced with their relative values evaluated within a filtering area. By adjusting the size of the filtering area, the member size of an optimized structure or the level of its topological complexity can be controlled even within a given finite element mesh. In contrast to the checkerboard-free filter, the present filter focuses on high-frequency components of the sensitivities. Since the present filtering method does not add a penalty term to the objective function nor require additional constraints, it is not only efficient but also simple to implement. Mean compliance minimization and eigenfrequency maximization problems are considered to verify the effectiveness of the present approach.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.7
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• pp.637-643
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• 2006

Generally, the tracking performance of optical disk drive(ODD) system can be improved using a disturbance observer(DOB). However, a DOB is not easily applied in an ODD system because an additional microprocessor, such as a digital signal processor(DSP), is needed. This paper shows how a DOB system can be replaced by the error-based modified disturbance observer(EM-DOB) when two mathematical conditions are satisfied. Due to the simplified structure of EM-DOB, the algorithm is easily implemented as an analog circuit, which is suitable for the ODD servo system. Additionally, in these algorithms, disturbances rejection performances can be tuned as Q filter parameters. Similar to a DOB system, three design guidelines of a Q filter can be applied. Experimental results of DOB and EM-DOB are evaluated under forced disturbances.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.2
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• pp.383-388
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• 2007

This paper considers a low-order dynamic output feedback controller design problem. Since the proposed control law inherently has a low-pass filter property, it can alleviate the mal-effects of the sensor noise without additional filter designs. Frequency domain analysis shows the characteristics of the proposed control law against measurement noise. The effectiveness of the proposed control law is illustrated by numerical simulations with a rotary inverted pendulum and a convey-crane. Using only one integrator the proposed control law has the advantage to the stabilization problem with sensor noise as well as it can successfully replace the measurements of derivative terms in a state feedback control law.

• 한국전산유체공학회:학술대회논문집
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• 2008.03b
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• pp.634-637
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• 2008

A large eddy simulation with an explicit filter on unstructured mesh is presented. The flow filed is semi-implicitly marched by a fractional step method. Spatial discretization of the solver is designed to guarantee the second order accuracy. An isotropic explicit filter is adopted for measuring the level of subgrid scale velocity fluctuation. The filter is linearity-preserving and has second order commutation error. The developed subgrid scale model is basically eddy viscosity model which depends on the explicitly filtered fields and needs no additional ad hoc wall treatment, such as van Driest damping function. For the validation, the flows in a channel and a pipe are calculated and compared to experimental data and numerical results in the literature.