• Journal of the Korean Institute of Intelligent Systems
• /
• v.23 no.6
• /
• pp.527-532
• /
• 2013

Depth estimation is an essential factor for robot vision, 3D scene modeling, and motion control. The depth estimation method is based on focusing values calculated in a series of images by a single camera at different distance between lens and object. In this paper, we proposed a relative depth estimation method using focus measure. The proposed method is implemented by focus value calculated for each image obtained at different lens position and then depth is finally estimated by considering relative distance of two patterns. We performed various experiments on the effective focus measures for depth estimation by using various patterns and their usefulness.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.19 no.2
• /
• pp.91-99
• /
• 2024

Collision avoidance system is important to improve the robustness and functional safety of autonomous vehicles. This paper proposes an object-level distance estimation method to develop a collision avoidance system, and it is applied to golfcarts utilized in country club environments. To improve the detection accuracy, we continually trained an object detection model based on pseudo labels generated by a pre-trained detector. Moreover, we propose object-aware depth estimation (OADE) method which trains a depth model focusing on object regions. In the OADE algorithm, we generated dense depth information for object regions by utilizing detection results and sparse LiDAR points, and it is referred to as object-aware LiDAR projection (OALP). By using the OALP maps, a depth estimation model was trained by backpropagating more gradients of the loss on object regions. Experiments were conducted on our custom dataset, which was collected for the travel distance of 22 km on 54 holes in three country clubs under various weather conditions. The precision and recall rate were respectively improved from 70.5% and 49.1% to 95.3% and 92.1% after the continual learning with pseudo labels. Moreover, the OADE algorithm reduces the absolute relative error from 4.76% to 4.27% for estimating distances to obstacles.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.9 no.6
• /
• pp.55-61
• /
• 2009

This paper proposes a position estimation of a mobile robot based on USN(Ubiquitous Sensor Network) and encoder, and development of tele-operation system using Internet. USN used in experiments is based on ZigBee protocol and has location estimation engine which uses RSSI signal to estimate distance between nodes. By distortion the estimated distance using RSSI is not correct, compensation method is needed. We obtained fuzzy model to calculate more accurate distance between nodes and use encoder which is built in robot to estimate accurate position of robot. Based on proposed position estimation method, tele-operation system was developed. We show by experiment that proposed method is more appropriate for estimation of position and remote navigation of mobile robot through Internet.

• Journal of Internet Computing and Services
• /
• v.15 no.4
• /
• pp.119-124
• /
• 2014

Blind adaptive systems based on the Euclidean distance (ED) between the distribution function of the output samples and that of a set of random symbols generated at the receiver matching with the distribution function of the transmitted symbol points estimate the ED at each iteration time to examine its convergence state or its minimum ED value. The problem is that this ED estimation obtained by block?data processing requires a heavy calculation burden. In this paper, a recursive ED estimation method is proposed that reduces the computational complexity by way of utilizing the relationship between the current and previous states of the datablock. The relationship provides a ground that the currently estimated ED value can be used for the estimation of the next ED without the need for processing the whole new data block. From the simulation results the proposed recursive ED estimation shows the same estimation values as that of the conventional method, and in the aspect of computational burden, the proposed method requires only O(N) at each iteration time while the conventional block?processing method does $O(N^2)$.

• Journal of the Institute of Electronics Engineers of Korea TC
• /
• v.44 no.3 s.357
• /
• pp.18-25
• /
• 2007

In sensor networks, sensor nodes have limited computational capacity, power and memory. Thus energy efficiency is one of the most important requirements. How to extend the lifetime of wireless sensor networks has been widely discussed in recent years. However, one of the most effective approaches to cope with power conservation, network scalability, and load balancing is clustering technique. The function of a cluster head is to collect and route messages of all the nodes within its cluster. Cluster heads must be changed periodically for low energy consumption and load distribution. In this paper, we propose an energy-aware cluster head selection algorithm and Distance Estimation-based distributed Clustering Algorithm (DECA) in wireless sensor networks, which exchanges cluster heads for less energy consumption by distance estimation. Our simulation result shows that DECA can improve the system lifetime of sensor networks up to three times compared to the conventional scheme.

• Journal of the Korean Data and Information Science Society
• /
• v.23 no.2
• /
• pp.247-256
• /
• 2012

Recently, estimation of greenhouse gas (GHG) emission has continuously emerged as an important global issue. This study compares various statistical methods for estimation of fuel consumption, which is necessary for calculation of GHG emission in road transportation sector. Existing methods have focused on using merely transportation fuel supply or distance traveled for calculation of fuel consumption. Estimates of GHG emission based on fuel supply, however, cannot reflect various vehicle types or model year. This study suggests and compares, from statistical point of view, several methods, which can be applied to estimate fuel consumption of each vehicle, by combining distance traveled and fuel efficiency (mileage), and total fuel consumption of all vehicles. It also suggests practical measures that can reflect vehicle types and model year to suggested methods for future research.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.26 no.1
• /
• pp.104-113
• /
• 2022

In this paper, we propose deep learning-based target distance and velocity estimation technique for OFDM radar systems. In the proposed technique, the 2D periodogram is obtained via 2D fast Fourier transform (FFT) from the reflected signal after removing the modulation effect. The periodogram is the input to the conventional and proposed estimators. The peak of the 2D periodogram represents the target, and the constant false alarm rate (CFAR) algorithm is the most popular conventional technique for the target's distance and speed estimation. In contrast, the proposed method is designed using the multiple output convolutional neural network (CNN). Unlike the conventional CFAR, the proposed estimator is easier to use because it does not require any additional information such as noise power. According to the simulation results, the proposed CNN improves the mean square error (MSE) by more than 5 times compared with the conventional CFAR, and the proposed estimator becomes more accurate as the number of transmitted OFDM symbols increases.

• Proceedings of the Korean Information Science Society Conference
• /
• 2003.04a
• /
• pp.533-535
• /
• 2003

The Euclidean distance is sensitive to the absolute offsets of time sequences, so it is not a suitable similarity measure in terms of shape. In this paper. we propose an indexing scheme for efficient matching and retrieval of time sequences based on the minimum distance. The minimum distance can give a better estimation of similarity in shape between two time sequences. Our indexing scheme can match time sequences of similar shapes irrespective of their vortical positions and guarantees no false dismissals

• The Journal of the Acoustical Society of Korea
• /
• v.36 no.6
• /
• pp.378-386
• /
• 2017

Accurate distance measurement between maneuver target in underwater and measuring devices is required to perform quantitative test evaluation in marine weapons system R&D process. In general, the target distance is measured using a one-way ToA (Time of Arrival) method that calculates the time difference between transmitted and received signals from the two accurately synchronized devices. However, the distance estimation performance is degraded because of the multi-path environments. In this paper, the time-variant transfer function of complex underwater environment is estimated from each received data frame using RBD (Ray-based Blind Deconvolution), and the estimated time-variant transfer function is then used to get rid of the effect about complex underwater environment and to recover the data signal using PTRM (Passive Time Reversal Mirror). The result from the simulation and experimental data show that the suggested method improve the distance estimation performance when comparing with the conventional ToA method.

• The Journal of the Acoustical Society of Korea
• /
• v.38 no.6
• /
• pp.630-636
• /
• 2019

Passive Ranging Sonar (PRS) is a type of passive sonar consisting of three sub-array on the port and starboard, and has a characteristic of detecting a target and calculating a bearing and a distance. The bearing and distance calculation requires physical sub-array position information, and the bearing and distance accuracy performance are deteriorated when the position information of the sub-array is inaccurate. In particular, it has a greater impact on distance accuracy performance using plus value of two time-delay than a bearing using average value of two time-delay. In order to improve this, a study on sub-array position error estimation and error compensation is needed. In this paper, We estimate the sub-array position error based on enetic algorithm, an optimization search technique, and propose a method to improve the performance of distance accuracy by compensating the time delay error caused by the position error. In addition, we will verify the proposed algorithm and its performance using the sea-going data.