• 제어로봇시스템학회논문지
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• 제3권2호
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• pp.169-178
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• 1997

This paper presents a new solution approach to moving obstacle avoidance problem of a robot. A new concept, avoidability measure(AVM) is defined to describe the state of a pair of a robot and an obstacle regarding the collision between them. As an AVM, virtual distance function(VDF) is derived as a function of three state variables: the distance from the obstacle to the robot, outward speed of the obstacle relative to the robot, and outward speed of the robot relative to the obstacle. By keeping the virtual distance above some positive limit value, the robot avoids the obstacle. In terms of the VDF, an artificial potential is constructed to repel the robot away from the obstacle and to attract the robot toward a goal location. At every sampling time, the artificial potential field is updated and the force driving the robot is derived from the gradient of the artificial potential field. The suggested algorithm drives the robot to avoid a moving obstacle in real time. Since the algorithm considers the mobility of the obstacle and robot as well as the distance, it is effective for moving obstacle avoidance. Some simulation studies show the effectiveness of the proposed approach.

• 한국멀티미디어학회논문지
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• 제18권9호
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• pp.1008-1018
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• 2015

In this paper, we propose a method that constructs a saliency map in which important regions are accurately specified and the colors of the regions are less influenced by the similar surrounding colors. Our method utilizes LBP(Local Binary Pattern) histogram information to compare and analyze texture information of surrounding regions in order to reduce the effect of color information. We extract the saliency of stereoscopic images by integrating a 2D saliency map with depth information of stereoscopic images. We then measure the distance between two different sizes of the LBP histograms that are generated from pixels. The distance we measure is texture difference between the surrounding regions. We then assign a saliency value according to the distance in LBP histogram. To evaluate our experimental results, we measure the F-measure compared to ground-truth by thresholding a saliency map at 0.8. The average F-Measure is 0.65 and our experimental results show improved performance in comparison with existing other saliency map extraction methods.

• 한국생산제조학회지
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• 제7권1호
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• pp.9-21
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• 1998

This paper a new solution approach to moving obstacle avoidance problem of a mobile robot. A new concept avoidability measure (AVM) is defined to describe the state of a pair of a robot and an obstacle regarding the collision between them. As an AVM, virtual distance function (VDF), is derived as a function of the distance from the obstacle to the robot and outward speed of the obstacle relative to the robot. By keeping the virtual distance above some positive limit value, the robot avoids the obstacle. In terms of the VDF ,an artificial potential field is constructed to repel the robot away from the obstacle and to attract the robot toward a goal location. At every sampling time, the artificial potential field is updated and the force driving the robot is derived from the gradient of the artificial potential field. The suggested algorithm drives the robot to avoid moving obstacles in real time. Since the algorithm considers the mobility of the obstacle as well as the distance, it is effective for moving obstacle avoidance. Some simulation studies show the effectiveness of the proposed approach.

• 한국조명전기설비학회:학술대회논문집
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• 한국조명전기설비학회 2007년도 춘계학술대회 논문집
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• pp.231-234
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• 2007

A measurement technique in an industry site is basis technique which is bringing a ripple effect on an increasing productivity. Recently, a measurement request is increasing in the industry field as well as the variety field such as leisure, research. Thus, it is in point of time to secure an internal technique about measurement using a laser. In this paper, we prepare to develop the industrial precision laser distance measure device that is available measuring in several hundred meters[m]. In other words, we are planning to measure a wide distance using a laser diode that has long life and is compact, inexpensive. Through this research, we'll secure the pulse laser control technique, a signal processing, technique for distance calculation about a laser distance measurement system. And hereafter, we'll plan to commercialize a laser distance device using this research.

• 산업경영시스템학회지
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• 제38권2호
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• pp.56-62
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• 2015

The Hausdorff distance is commonly used as a similarity measure between two-dimensional binary images. Since the document images may be contaminated by a variety of noise sources during transmission, scanning or conversion to digital form, the measure should be robust to the noise. Original Hausdorff distance has been known to be sensitive to outliers. Transforming the given image to grayscale image is one of methods to deal with the noises. In this paper, we propose a Hausdorff distance applied to grayscale images. The proposed method is tested with synthetic images with various levels of noises and compared with other methods to show its robustness.

• 한국생산제조학회지
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• 제23권6호
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• pp.642-646
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• 2014

This research describes the measurement of roll parallelism by a laser interferometer. Parallelism among rolls is an important factor for improving the precision of printing devices. A laser interferometer, which is a device for the precise measurement of distance, can be utilized to measure parallelisms between rolls. To measure distance between two rolls by using a laser interferometer, the laser must not be severed during measurement. To achieve this condition, a linear motion guide was installed to each roll being measured, and continuous measurement of distance between two rolls was implemented by the simultaneous control of two mirrors installed on the guides. The method to measure parallelism between two rolls presented in this research can be utilized to improve printing precision by enhancing parallelism between rolls in printing devices.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 ITC-CSCC -1
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• pp.54-57
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• 2000

In vector quantization (VQ), mean squared difference (MSD) is a widely used distance measure between vectors. But the distance between the means of each vector elements appears as a dominant quantity in MSD. In the case of image vectors, the coincidence of edge patterns is also important when the human visual system (HVS) is considered. Therefore, we propose a new distance measure that uses the variance of differences to encode vectors and to design codebooks. It can choose more proper codewords to reduce edge degradations and make a useful codebook, which has lots of various edge codewords in place of redundant shades.

• 한국통신학회논문지
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• 제37A권12호
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• pp.1038-1042
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• 2012

이 논문에서는 편이된 확률밀도함수 간 거리 측정이라는 새로운 거리 측정 기준을 제안하고 이에 관련된 등화 알고리듬을 도출하여 충격성 잡음과 시변 직류 잡음이 있는 다경로 채널에 적용하였다. 이러한 비 가우시안 잡음 환경에서 시행한 시뮬레이션의 결과로부터, 제안한 알고리듬이 충격성 잡음에 강인성을 보일 뿐 아니라 시변 직류 잡음도 제거하는 탁월한 능력을 가짐을 입증하였다.

• 한국지능시스템학회논문지
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• 제17권1호
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• pp.1-6
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• 2007

거리측도를 이용한 유사도를 구성하였고 제안된 유사도의 유용성을 증명을 통하여 확인 하였다. 퍼지 넘버와 무게 중심 법을 이용한 기존의 유사도 구성에 대한 결과를 소개하였고 두 가지의 유사도를 다양한 형태의 소속 함수에 대하여 유사도 계산을 통하여 비교하였다.

• 정보과학회 컴퓨팅의 실제 논문지
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• 제22권4호
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• pp.189-194
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• 2016

궤적은 이동체가 움직인 경로이다. IT 기술의 성장은 GPS와 같은 위치 측정 장치를 통해 다양한 이동체의 궤적 데이터를 수집할 수 있게 하였다. 이동체의 궤적은 지리정보시스템(GIS)을 포함한 다양한 연구 분야에서 사용된다. 지리정보시스템 분야에서는 차량의 궤적 데이터를 이용한 전자 도로 지도생성 시도가 많이 이루어져왔다. 이 목표를 이루기 위해서는 같은 도로 상의 궤적들을 모으는 방법이 필요하다. 흔히 프레셰 거리($Fr{\acute{e}}chet$ distance)가 궤적 쌍의 거리를 측정하는데 사용된다. 하지만 프레셰 거리는 대량의 궤적들에 대해서는 계산 시간의 소모가 심하다. 본 논문에서는 궤적들의 인접성 여부를 이산프레셰 거리를 통해 빠르게 구분하는 휴리스틱 알고리즘을 제안한다. 이 알고리즘은 계산되는 거리의 정확도를 낮추는 대신 계산 속도를 높였다. 실험 결과, 제안 방법은 이산 프레셰 거리 대비 95%의 정확도와 최하 65%의 계산 감소율로 거리가 10m 이내인 궤적들을 구분할 수 있었다.