• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1149-1152
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• 1996

Recently visual servo control is an important feature of an intelligent robot system. In this paper, we presents a Kalman filter approach for estimation of the linear optic flow model which is utilized in the visual servoing of a mobile robot. The proposed method is also compared with the conventional least mean square method via computer simulation.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.7
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• pp.2633-2648
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• 2015

The problem of visual words' synonymy and ambiguity always exist in the conventional bag of visual words (BoVW) model based object category methods. Besides, the noisy visual words, so-called "visual stop-words" will degrade the semantic resolution of visual dictionary. In view of this, a novel bag of visual words method based on PLSA and chi-square model for object category is proposed. Firstly, Probabilistic Latent Semantic Analysis (PLSA) is used to analyze the semantic co-occurrence probability of visual words, infer the latent semantic topics in images, and get the latent topic distributions induced by the words. Secondly, the KL divergence is adopt to measure the semantic distance between visual words, which can get semantically related homoionym. Then, adaptive soft-assignment strategy is combined to realize the soft mapping between SIFT features and some homoionym. Finally, the chi-square model is introduced to eliminate the "visual stop-words" and reconstruct the visual vocabulary histograms. Moreover, SVM (Support Vector Machine) is applied to accomplish object classification. Experimental results indicated that the synonymy and ambiguity problems of visual words can be overcome effectively. The distinguish ability of visual semantic resolution as well as the object classification performance are substantially boosted compared with the traditional methods.

• ETRI Journal
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• v.29 no.5
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• pp.649-654
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• 2007

In this paper, we propose a computational integral imaging reconstruction (CIIR) method using a round mapping model to improve the viewing quality of 3-D images. The proposed CIIR method can overcome the problem of non-uniformly reconstructed images caused by the conventional method. To show the usefulness of proposed method, some experiments are carried out and the results are presented.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.1
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• pp.21-27
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• 2002

Inspection and shape measurement of three-dimensional objects are widely needed in industries for quality monitoring and control. A number of visual or optical technologies have been successfully applied to measure three-dimensional surfaces. However, those conventional visual or optical methods have inherent shortcomings such as occlusion and variant surface reflection. X-ray vision system can be a good solution to these conventional problems, since we can extract the volume information including both the surface geometry and the inner structure of any objects. In the x-ray system, the surface condition of an object, whether it is lambertian or specular, does not affect the inherent characteristics of its x-ray images. In this paper, we propose a three-dimensional x-ray imaging method to reconstruct a three dimensional structure of an object out of two dimensional x-ray image sets. To achieve this by the proposed method, two or more x-ray images projected from different views are needed. Once these images are acquired, the simultaneous algebraic reconstruction technique(SART) is usually utilized. Since the existing SART algorithms have several shortcomings such as low performance in convergence and different convergence within the reconstruction volume of interest, an advanced SART algorithm named as USART(uniform SART) is proposed to avoid such shortcomings and improve the reconstruction performance. Because, each voxel within the volume is equally weighted to update instantaneous value of its internal density, it can achieve uniform convergence property of the reconstructed volume. The algorithm is simulated on various shapes of objects such as a pyramid, a hemisphere and a BGA model. Based on simulation results the performance of the proposed method is compared with that of the conventional SART method.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1106-1111
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• 2007

The visual inspection method that depends on human's eyes has some problem that a lot of variations happen in examination according to bodily, spiritual state of the checker. We automate remocon inspection process using CCD camera. Our developed inspection system can be used in any remocon production line without the user's big handling. Our inspection system was developed using PC, CCD Camera, Visual C++ for universal work place. The accuracy of proposed system was improved about 3.2[%] than the conventional pattern matching method and the processing time was decreased about 119[ms]. Also we showed that our inspection system is more robust to lighting circumstances.

• International Journal of Internet, Broadcasting and Communication
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• v.12 no.2
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• pp.21-29
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• 2020

This paper presents an effective single image haze removal using edge-preserving and adaptive transmission estimation to enhance the visibility of outdoor images vulnerable to weather and environmental conditions with computational complexity reduction. The conventional methods involve the time-consuming refinement process. The proposed transmission estimation however does not require the refinement, since it preserves the edges effectively, which selects one between the pixel-based dark channel and the patch-based dark channel in the vicinity of edges. Moreover, we propose an adaptive transmission estimation to improve the visual quality particularly in bright areas like sky. Experimental results with various hazy images represent that the proposed method is superior to the conventional methods in both subjective visual quality and computational complexity. The proposed method can be adopted to compose a haze removal module for realtime devices such as mobile devices, digital cameras, autonomous vehicles, and so on as well as PCs that have enough processing resources.

• Journal of information and communication convergence engineering
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• v.19 no.3
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• pp.180-187
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• 2021

In this paper, we present a computational volumetric reconstruction method for three-dimensional (3D) photon counting imaging with enhanced visual quality when low-resolution elemental images are used under photon-starved conditions. In conventional photon counting imaging with low-resolution elemental images, it may be difficult to estimate the 3D scene correctly because of a lack of scene information. In addition, the reconstructed 3D images may be blurred because volumetric computational reconstruction has an averaging effect. In contrast, with our method, the pixels of the elemental image rearrangement technique and a Bayesian approach are used as the reconstruction and estimation methods, respectively. Therefore, our method can enhance the visual quality and estimation accuracy of the reconstructed 3D images because it does not have an averaging effect and uses prior information about the 3D scene. To validate our technique, we performed optical experiments and demonstrated the reconstruction results.

• Journal of KIBIM
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• v.13 no.4
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• pp.64-73
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• 2023

This study introduces a method of estimating the 3D coordinates of structural damage from the detection results of visual inspection provided in 2D image coordinates using sensing data of UAV and 3D shape information of BIM. This estimation process takes place in a virtual space and utilizes the BIM model, so it is possible to immediately identify which member of the structure the estimated location corresponds to. Difference from conventional structural damage localization methods that require 3D scanning or additional sensor attachment, it is a method that can be applied locally and rapidly. Measurement accuracy was calculated through the distance difference between the measured position measured by TLS (Terrestrial Laser Scanner) and the estimated position calculated by the method proposed in this study, which can determine the applicability of this study and the direction of future research.

• Journal of Korea Society of Digital Industry and Information Management
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• v.14 no.2
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• pp.49-59
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• 2018

Encryption of digital images has been requested various fields. In the meantime, many algorithms based on a text - based encryption algorithm have been proposed. In this paper, we propose a method of encryption in wavelet transform domain to utilize the characteristics of digital image. In particular, wavelet transform is used to reduce the association between the encrypted image and the original image. Wavelet packet transformations can be decomposed into more subband images than wavelet transform, and various position permutation, numerical transformation, and visual transformation are performed on the coefficients of this subband image. As a result, this paper proposes a method that satisfies the characteristics of high encryption strength than the conventional wavelet transform and reversibility. This method also satisfies the lossless symmetric key encryption and decryption algorithm. The performance of the proposed method is confirmed by visual and quantitative. Experimental results show that the visually encrypted image is seen as a completely different signal from the original image. We also confirmed that the proposed method shows lower values of cross correlation than conventional wavelet transform. And PSNR has a sufficiently high value in terms of decoding performance of the proposed method. In this paper, we also proposed that the degree of correlation of the encrypted image can be controlled by adjusting the number of wavelet transform steps according to the characteristics of the image.

• The KIPS Transactions:PartB
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• v.11B no.2
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• pp.125-132
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• 2004

In this paper, a watermark inserting method according to the sensitivity of human visual system and minimizing distortion of original DCT coefficients in DCT transform domain is proposed. The proposed method inserts a more robust watermark in the insensitive block of human vision by reordering the blocks according to the human visual system which is appropriate to the JPEG image compression. It also enhances the invisibility and robustness in high compression rate in terms of the watermark inserting method within the block which minimizes distortions of original DCT coefficients. The computer simulation results show that the proposed method maintains high image quality and good robustness in high compression rate compared with conventional watermarking method.