• Proceedings of the Korea Inteligent Information System Society Conference
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• 2007.11a
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• pp.357-361
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• 2007

This paper presents a multi-robot localization based on Bayesian Multidimensional Scaling (BMDS). We propose a robust MDS to handle both the incomplete and noisy data, which is applied to solve the multi-robot localization problem. To deal with the incomplete data, we use the Nystr${\ddot{o}}$m approximation which approximates the full distance matrix. To deal with the uncertainty, we formulate a Bayesian framework for MDS which finds the posterior of coordinates of objects by means of statistical inference. We not only verify the performance of MDS-based multi-robot localization by computer simulations, but also implement a real world localization of multi-robot team. Using extensive empirical results, we show that the accuracy of the proposed method is almost similar to that of Monte Carlo Localization(MCL).

• The Journal of Korea Robotics Society
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• v.3 no.2
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• pp.117-122
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• 2008

This paper presents a multi-robot localization based on multidimensional scaling (MDS) in spite of the existence of incomplete and noisy data. While the traditional algorithms for MDS work on the full-rank distance matrix, there might be many missing data in the real world due to occlusions. Moreover, it has no considerations to dealing with the uncertainty due to noisy observations. We propose a robust MDS to handle both the incomplete and noisy data, which is applied to solve the multi-robot localization problem. To deal with the incomplete data, we use the Nystr$\ddot{o}$m approximation which approximates the full distance matrix. To deal with the uncertainty, we formulate a Bayesian framework for MDS which finds the posterior of coordinates of objects by means of statistical inference. We not only verify the performance of MDS-based multi-robot localization by computer simulations, but also implement a real world localization of multi-robot team. Using extensive empirical results, we show that the accuracy of the proposed method is almost similar to that of Monte Carlo Localization(MCL).

• Journal of Broadcast Engineering
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• v.9 no.4 s.25
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• pp.305-321
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• 2004

With the advent of the digital broadcasting, the audiences can access a large number of TV programs and their information through the multiple channels on various media devices. The access to a large number of TV programs can support a user for many chances with which he/she can sort and select the best one of them. However, the information overload on the user inevitably requires much effort with a lot of patience for finding his/her favorite programs. Therefore, it is useful to provide the persona1ized broadcasting service which assists the user to automatically find his/her favorite programs. As the growing requirements of the TV personalization, we introduce our automatic user preference learning algorithm which 1) analyzes a user's usage history on TV program contents: 2) extracts the user's watching pattern depending on a specific time and day and shows our automatic TV program recommendation system using MPEG-7 MDS (Multimedia Description Scheme: ISO/IEC 15938-5) and 3) automatically calculates the user's preference. For our experimental results, we have used TV audiences' watching history with the ages, genders and viewing times obtained from AC Nielson Korea. From our experimental results, we observed that our proposed algorithm of the automatic user preference learning algorithm based on the Bayesian network can effectively learn the user's preferences accordingly during the course of TV watching periods.