• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.868-874
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• 2014

This paper proposes a novel mapping algorithm in Omni-directional Vision SLAM based on an obstacle's feature extraction using Lucas-Kanade Optical Flow motion detection and images obtained through fish-eye lenses mounted on robots. Omni-directional image sensors have distortion problems because they use a fish-eye lens or mirror, but it is possible in real time image processing for mobile robots because it measured all information around the robot at one time. In previous Omni-Directional Vision SLAM research, feature points in corrected fisheye images were used but the proposed algorithm corrected only the feature point of the obstacle. We obtained faster processing than previous systems through this process. The core of the proposed algorithm may be summarized as follows: First, we capture instantaneous $360^{\circ}$ panoramic images around a robot through fish-eye lenses which are mounted in the bottom direction. Second, we remove the feature points of the floor surface using a histogram filter, and label the candidates of the obstacle extracted. Third, we estimate the location of obstacles based on motion vectors using LKOF. Finally, it estimates the robot position using an Extended Kalman Filter based on the obstacle position obtained by LKOF and creates a map. We will confirm the reliability of the mapping algorithm using motion estimation based on fisheye images through the comparison between maps obtained using the proposed algorithm and real maps.

• Journal of IKEEE
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• v.5 no.2 s.9
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• pp.128-135
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• 2001

Optical wavelength filters based on directional couplers are rigorously designed and analyzed by Modal Transmission-Line Theory (MTLT). The conventional parallel directional coupler is utilized to implement a narrow-band filter, and it takes up the coupler with tapered structure as a wide-band filter. The power transfers of TE/TM modes in narrow-band filters are maximized at ${\lambda}=1.303{\mu}m\;and\;1.1496{\mu}m$, and the optical bandwidths are then 30nm and 10nm, respectively. Furthermore, when the coupling lengths of TE/TM modes in wide-band filters operating at ${\lambda}=1.55{\mu}m$ are selected as $183{\mu}m\;and\;178{\mu}m$, those are operated as the stop-band and pass-band filters, respectively.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.10
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• pp.110-116
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• 2017

This paper presents an effective demosaicking algorithm for color filter array (CFA) images acquired from single-sensor devices based on directional interpolation and nonlocal properties of the image. We interpolate the G channel considering diagonal directions as well as horizontal and vertical directions, using a small number of pixels to reflect local properties of the image. Then, we overcome image degradations, such as zipper effects near edges and false colors, by applying nonlocal means (NLM) filtering to the interpolated pixels. R and B channels are reproduced by using directional interpolation with information of the reconstructed G channel and NLM filtering. Experimental results for various McMaster images with high saturation and color changes show that the proposed algorithm accomplishes high PSNR compared with conventional methods. Moreover, the proposed method demonstrates better subjective quality compared with existing methods in terms of reduction of quality degradation, like false colors, and preservation of the image structures, such as edges and textures.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2011.10a
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• pp.930-933
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• 2011

This paper addresses an adaptive postprocessing method applied in the spatial domain for block-based discrete cosine transform (BDCT) coded images. The proposed algorithm is designed by a serial concatenation of a 1D simple smoothing filter and a 2D directional filter. The 1D smoothing filter is applied according to the block type, which is determined by an adaptive threshold. It depends on local statistical properties, and updates block types appropriately by a simple rule, which affects the performance of deblocking processes. In addition, the 2D directional filter is introduced to suppress the ringing effects at the sharp edges and the block discontinuities while preserving true edges and textural information. Comprehensive experiments indicate that the proposed algorithm outperforms many deblocking methods in the literature, in terms of PSNR and subjective visual quality evaluated by GBIM.

• Proceedings of the IEEK Conference
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• 2001.09a
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• pp.561-564
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• 2001

잡음에 의해 훼손된 영상 신호를 복원할 때 쓰이는 Wiener filter는 국부영역의 잡음 분산과 신호 분산을 가지고 적응적으로 필터의 파라미터를 조절한다. 그러나 기존의 Wiener filter는 고정된 필터 마스크를 사용함으로써, 평탄 영역의 잡음을 크게 제거하면, 에지 부분의 잡음이 살고, 에지 부분의 잡음을 제거하면, 평탄영역의 잡음이 사는 특성이 있다. 본 논문은 Kirsh mask로 에지와 그 방향성을 판별한 후, 에지 부분의 잡음을 제거하면서 평탄 영역의 잡음도 동시에 제거하기 위해 가변적인 필터 마스크를 사용했으며, 잡음에 의해 훼손된 방향성 정보를 살러 주기위해 필터 마tm크와 훼손된 영상 이미지에 방향성 정보를 추가했다. 제안된 방법으로 실험한 결과 주관적 비교에서 에피 부분이 잡음을 제거하고 방향성을 살렸으며, PSNR을 이용한 객관적 비교에서도 기존알고리즘보다 개선된 성능을 보였다.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.13 no.2
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• pp.107-119
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• 1988

An 8-channel digital filter bank with wave digital filters(WDF) is studied. Wave digital filtwr is automatically a directional filter. Using these properties, a new method for organizing the 8-channel digital filter bank is proposed. This will lead to enormous savings in memories for the digital signal processign chip.

• Korean Journal of Optics and Photonics
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• v.16 no.2
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• pp.162-167
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• 2005

An optical directional coupler, which consists of quantum wells with nanothickness, is designed by using Modal Transmission Line Theory (MTLT). To demonstrate the validity and usefulness, the propagation characteristics and the coupling efficiencies are rigorously evaluated at nanoscale couplers, which consist of double quantum wells with different effective masses. The numerical result reveals that the coupling efficiency of nanoscale couplers is maximized at a coupling length 2052.3 nm, if the total electron energy is 83.9 meV. Furthermore, the coupler operates as a filter with narrower band as the barrier thickness increases.

• Structural Engineering and Mechanics
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• v.27 no.1
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• pp.49-61
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• 2007

This paper presents a modified and improved bi-directional evolutionary structural optimization (BESO) method for topology optimization. A sensitivity filter which has been used in other optimization methods is introduced into BESO so that the design solutions become mesh-independent. To improve the convergence of the optimization process, the sensitivity number considers its historical information. Numerical examples show the effectiveness of the modified BESO method in obtaining convergent and mesh-independent solutions. A study of the effects of various BESO parameters on the solution is then conducted to determine the appropriate values for these parameters.

• Proceedings of the Korea Multimedia Society Conference
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• 2002.05c
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• pp.315-319
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• 2002

The study on shilla monumental inscription has been accomplished by many historians. However, the research on segmentation of monumental inscription image using digital image processing technique is not sufficient. The preprocessing using computer is needed for accurate interpretation of history. In this paper, A morphological filtering using directional information is presented. Directional filtering is effective in reducing noises and preserving edges. The opening and closing operations in the 1st stage are performed for the pixel is aligned to the vertical, horizontal and two diagonal directions. The Opening operation supresses the positive impulse noise while the closing operation the negative ones. Then Directional filter and post-processing are applied to the image. Experimental result shows outstanding performance for interpretation.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.6
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• pp.1635-1656
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• 2023

In Bayesian multi-target tracking, the Poisson multi-Bernoulli mixture (PMBM) filter is a state-of-the-art filter based on the methodology of random finite set which is a conjugate prior composed of Poisson point process (PPP) and multi-Bernoulli mixture (MBM). In order to improve the random finite set-based filter utilized in multi-target tracking of sensor scanning, this paper introduces the Poisson multi-Bernoulli mixture filter into time-matching Bayesian filtering framework and derive a tractable and principled method, namely: the time-matching Poisson multi-Bernoulli mixture (TM-PMBM) filter. We also provide the Gaussian mixture implementation of the TM-PMBM filter for linear-Gaussian dynamic and measurement models. Subsequently, we compare the performance of the TM-PMBM filter with other RFS filters based on time-matching method with different birth models under directional continuous scanning and out-of-order discontinuous scanning. The results of simulation demonstrate that the proposed filter not only can effectively reduce the influence of sampling time diversity, but also improve the estimated accuracy of target state along with cardinality.