• The Journal of Korean Institute of Communications and Information Sciences
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• v.33 no.11C
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• pp.949-954
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• 2008

An ultrawide band (UWB) signal model is proposed to estimate the angle-of-arrivals of the signals arrived in clusters at an UWB receiver for a short-range, high-speed, indoor wireless communication system in an elliptical scattering environment. And a new estimation technique is proposed by modifying the conventional MUSIC algorithm. By using this estimation technique, the estimates of the two unknown parameter sets, angle-of-arrivals and distribution parameters, are obtained with the proposed UWB signal model. The proposed UWB signal model and estimation technique are verified through computer simulations in an ultrawide band communication environment.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.2821-2823
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• 1999

In this paper we proposed an algorithm for rotation-invariant pattern recognition and rotated angle estimation between two patterns by employing selective template matching. Generally template matching has been used in determining the location of pattern but template matching requires a number of calculating correlation. To reduce the number of correlation we used steady-state genetic algorithm which is effective in optimization problem. We apply this method to distinguish specific pattern from similar coin patterns and estimate rotated angle between patterns. Our result leads us to the conclusion that proposed method performed faster than classical template matching

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.3
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• pp.605-613
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• 2009

In this paper, we studied for the real-time azimuthal measurement of HMD (Head Mounted Display) to control the tele-operated vision system on the mobile robot. In the preexistence tele-operated vision system, a joystick was used to control the pan-tilt unit of the remote camera system. To give the sense of presence to the tele-operator, we used a HMD to display the remote scene, measured the rotation angle of the HMD on a real time basis, and transmitted the measured rotation angles to the mobile robot controller to synchronize the pan-tilt angles of remote camera with the HMD. In this paper, we suggest an algorithm for the real-time estimation of the HMD rotation angles using feature points extraction from pc-camera image. The simple experiment is conducted to demonstrate the feasibility.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.11
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• pp.1053-1059
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• 2010

This paper treats the DIS (Digital Image Stabilization) problem subject to base motions such as translation, rotation and zoom. For the local motion estimation from a raw image, the Harris corner detection algorithm is exploited to extract feature points, and comparing those of consecutive images, the zoom ratio (scale factor) is computed. For the global motion estimation, an equivalent model is derived to account for a 3-dimensional composite motion from which the center point and Euler angle can be determined. Finally, the motion compensation follows. To show the effectiveness of the present DIS scheme, experimental results for synthetic images are illustrated.

• The Journal of the Acoustical Society of Korea
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• v.38 no.5
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• pp.534-542
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• 2019

In active SONAR, several different methods are used to detect range-Doppler information of the target. Compressive sensing based method is more accurate than conventional methods and shows superior performance. There are several compressive sensing algorithms for range-Doppler estimation of active sonar. The ability of each algorithm depends on algorithm type, mutual coherence of sensing matrix, and signal to noise ratio. In this paper, we compared and analyzed computational performance and accuracy of various compressive sensing algorithms for range-Doppler estimation of active sonar. The performance of OMP (Orthogonal Matching Pursuit), CoSaMP (Compressive Sampling Matching Pursuit), BPDN (CVX) (Basis Pursuit Denoising), LARS (Least Angle Regression) algorithms is respectively estimated for varying SNR (Signal to Noise Ratio), and mutual coherence. The optimal compressive sensing algorithm is presented according to the situation.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.470-476
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• 2016

This paper proposes a practical algorithm for the reduction of measurement errors due to drift in a micro-electromechanical system (MEMS) gyros that are used for a mobile robot. Any drift in a MEMS gyro will cause an unbounded growth of errors in the estimation of heading, which makes it nearly useless in applications that require high accuracy over a long operating time. In proposed method, maneuvers of a cleaning robot are observed through encoders' measurement process and a decision to correct bias drift will be made if necessary. The method used in this paper is called the "heading estimation filter". To evaluate the accuracy of the proposed method, a comparison was made between the estimation of the heading of the cleaning robot and one from a motion capture system.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.9 no.2
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• pp.395-400
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• 2008

This paper relates to the performance analysis of DoA estimation algorithm in 2-dimensional circular array antenna for the receiving of GPS signal which is used for the performance improvement by elimination of jammer signal. By performing the spatial filtering after the DoA estimation in array antenna, the quality of receiving signal can improve by the nulling of jammer signal from the undesired direction and the forming of beam from the desired direction. In this paper, the MUSIC and MinNorm algorithm used for DoA estimation were applied after fixing the angle and power of jammer signal in 4 element and 7 element circular array antenna. In order to performance analysis, the estimation result and estimation error were computed by computer simulation. As a result, the MUSIC and MinNorm were fairly good in azimuth and elevation angle estimation of DoA in case of good signal to noise ratio and the MUSIC has better performance compared to MinNorm in case of poor signal to noise ratio.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1352-1355
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• 1997

This paper presents the algorithm for estimating the attitude of an underwater vehicle using EFK. The system model is designed by linerizing the nonlinear Euler angle differential equation and the measurements is a speed logger output. The simulation result shows that the estimation lagorithm is adequate for decreasing attitude errors that grow abruptly during the motion with acceleration and rotation. It also shows that we can adapt the algorithm for compensating initial attitude errors generated after initial leveling.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.1
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• pp.7-12
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• 2012

In this paper, we present an effective viewpoint estimation algorithm for the Moving parallax barrier method of 3D display mobile device. Moving parallax barrier is designed to overcome the biggest problem, the limited view angle. To accomplish it, the position of the viewer's eyes or face should be estimated with strong stability and no latency. We focus on these requirements in the poor performance of mobile processors. We used a pre-processing algorithm in order to overcome the various illumination changes. And, we combined the conventional Viola-Jones face detection method and Optical-flow algorithm for robust and stable viewpoint estimation. Various computer simulations prove the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.746-751
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• 2003

A method of measuring the length of defects on the wall of the spent nuclear fuel pool using the image processing and a laser slit beam is proposed. Since the defect monitoring camera is suspended by a crane and hinged to the crane hook, the camera viewing direction can not be adjusted to the orientation that is exactly perpendicular to the wall. Thus, the image taken by the camera, which is horizontally rotated along the axis of the camera supporting beam, is distorted and thus, the precise length can not be measured. In this paper, by using the LASER slit beam generator, the horizontally rotated angle of the camera is estimated. Once the angle is obtained, the distorted image can be easily reconstructed to the image normal to the wall. The estimation algorithm adopts a 3-dimensional coordinate transformation of the image plane where both the laser slit beam and the original image of the defects exist. The estimation equation is obtained by using the information of the beam projected on the wall and the parameters of this equation are experimentally obtained. With this algorithm, the original image of the defect taken at arbitrary rotated angle can be reconstructed to an image normal to the wall. From the result of a series of experiments, the accuracy of the defect is measured within 0.6 and 1.3 % error bound of real defect size in the air and underwater, respectively under 30 degree of the inclined angle of the laser slit beam generator. Also, the error increases as the inclined angle increases upto 60 degree. Over this angle, the defect length can not be measured since the defect image disappears. The proposed algorithm enables the accurate measurement of the defect length only by using a single camera and a laser slit beam.