• 대한임베디드공학회논문지
• /
• 제16권6호
• /
• pp.323-330
• /
• 2021

Visual object tracking is a challenging area of study in the field of computer vision due to many difficult problems, including a fast variation of target shape, occlusion, and arbitrary ground truth object designation. In this paper, we focus on the reinforced feature of the dynamic search area to get better performance than conventional discriminative model prediction trackers on the condition when the accuracy deteriorates since low feature discrimination. We propose a reinforced input feature method shown like the spotlight effect on the dynamic search area of the target tracking. This method can be used to improve performances for deep learning based discriminative model prediction tracker, also various types of trackers which are used to infer the center of the target based on the visual object tracking. The proposed method shows the improved tracking performance than the baseline trackers, achieving a relative gain of 38% quantitative improvement from 0.433 to 0.601 F-score at the visual object tracking evaluation.

• 대한임베디드공학회논문지
• /
• 제16권5호
• /
• pp.209-214
• /
• 2021

Panoptic segmentation, which is now widely used in computer vision such as medical image analysis, and autonomous driving, helps understanding an image with holistic view. It identifies each pixel by assigning a unique class ID, and an instance ID. Specifically, it can classify 'thing' from 'stuff', and provide pixel-wise results of semantic prediction and object detection. As a result, it can solve both semantic segmentation and instance segmentation tasks through a unified single model, producing two different contexts for two segmentation tasks. Semantic segmentation task focuses on how to obtain multi-scale features from large receptive field, without losing low-level features. On the other hand, instance segmentation task focuses on how to separate 'thing' from 'stuff' and how to produce the representation of detected objects. With the advances of both segmentation techniques, several panoptic segmentation models have been proposed. Many researchers try to solve discrepancy problems between results of two segmentation branches that can be caused on the boundary of the object. In this survey paper, we will introduce the concept of panoptic segmentation, categorize the existing method into two representative methods and explain how it is operated on two methods: top-down method and bottom-up method. Then, we will analyze the performance of various methods with experimental results.

• 대한임베디드공학회논문지
• /
• 제17권6호
• /
• pp.367-374
• /
• 2022

The acceleration of neural networks has become an important topic in the field of computer vision. An accelerator is absolutely necessary for accelerating the lightweight model. Most accelerator-supported operators focused on direct convolution operations. If the accelerator does not provide GEMM operation, it is mostly replaced by CPU operation. In this paper, we proposed an optimization technique for 2-stage tiling-based GEMM routines on VTA. We improved performance of the matrix multiplication routine by maximizing the reusability of the input matrix and optimizing the operation pipelining. In addition, we applied the proposed technique to the DarkNet framework to check the performance improvement of the matrix multiplication routine. The proposed GEMM method showed a performance improvement of more than 2.4 times compared to the non-optimized GEMM method. The inference performance of our DarkNet framework has also improved by at least 2.3 times.

• 대한임베디드공학회논문지
• /
• 제19권2호
• /
• 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.

• 대한임베디드공학회논문지
• /
• 제19권1호
• /
• pp.1-8
• /
• 2024

Robotic arms have been widely utilized in various labor-intensive industries such as manufacturing, agriculture, and food services, contributing to increasing productivity. In the development of industrial robotic arms, camera sensors have many advantages due to their cost-effectiveness and small sizes. However, estimating object positions is a challenging problem, and it critically affects to the robustness of object manipulation functions. This paper proposes a method for estimating the 3D positions of objects, and it is applied to a pick-and-place task. A deep learning model is utilized to detect 2D bounding boxes in the image plane, and the pinhole camera model is employed to compute the object positions. To improve the robustness of measuring the 3D positions of objects, we analyze the effect of lens distortion and introduce a false positive filtering process. Experiments were conducted on a real-world scenario for moving medicine bottles by using a camera-based manipulator. Experimental results demonstrated that the distortion removal and false positive filtering are effective to improve the position estimation precision and the manipulation success rate.

• 한국산학기술학회논문지
• /
• 제11권6호
• /
• pp.2219-2224
• /
• 2010

증강현실 기반의 콘텐츠를 제작하는 데에는 많은 시간과 비용이 필요할 뿐만 아니라 컴퓨터공학, 가상현실, 증강현실, 3차원 그래픽스, 컴퓨터 시각과 같은 여러 분야에 숙련된 기술자의 도움이 필요하다. 이 논문에서는 증강현실 콘텐츠 제작의 어려움을 3가지로 분석하였으며, 이러한 어려움을 해결하기 위한 정형화된 저작 기법을 제안하고 있다. 제안된 기법은 원래 실시간 임베디드 시스템의 모델링을 위한 도구인 Statecharts를 기반으로 하였는데, 자동화된 저작도구로의 적용을 고려하여 증강현실 콘텐츠를 위한 Statecharts의 의미론(semantics)을 제시하고 있으며 상호작용 모델링에서 가장 중요한 이벤트를 정의하고 있다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.835-838
• /
• 2003

Computer vision and natural-language dialogue play an important role in friendly human-machine interfaces for service robots. In this paper we describe an integrated face detection and face recognition system for a welfare robot, which has also been combined with the robot's speech interface. Our approach to face detection is to combine neural network (NN) and genetic algorithm (GA): ANN serves as a face filter while GA is used to search the image efficiently. When the face is detected, embedded Hidden Markov Model (EMM) is used to determine its identity. A real-time system has been created by combining the face detection and recognition techniques. When motivated by the speaker's voice commands, it takes an image from the camera, finds the face inside the image and recognizes it. Experiments on an indoor environment with complex backgrounds showed that a recognition rate of more than 88% can be achieved.

• 한국CDE학회논문집
• /
• 제12권3호
• /
• pp.171-181
• /
• 2007

Ubiquitous computing is a vision of our future computing lifestyle in which computer systems seamlessly integrate into our everyday lives, providing services and information in anywhere and anytime fashion. Augmented reality (AR) can naturally complement ubiquitous computing by providing an intuitive and collaborative visualization and simulation interface to a three-dimensional information space embedded within physical reality. This paper presents a service framework and its applications for providing context-aware u-car maintenance services using augmented reality, which can support a rich set of ubiquitous services and collaboration. It realizes bi-augmentation between physical and virtual spaces using augmented reality. It also offers a context processing module to acquire, interpret and disseminate context information. In particular, the context processing module considers user's preferences and security profile for providing private and customer-oriented services. The prototype system has been implemented to support 3D animation, TTS (Text-to-Speech), augmented manual, annotation, and pre- and post-augmentation services in ubiquitous car service environments.

• 반도체디스플레이기술학회지
• /
• 제14권4호
• /
• pp.50-55
• /
• 2015

This paper proposes a new histogram partition stretching and shrinking method for infrared image enhancement. The proposed method divides the histogram of an input image into three partitions according to its mean value and standard deviation. The method stretches both the dark partition and the bright partition of the histogram, while it shrinks the medium partition. As the result, both the dark part and the bright part of the image have more brightness levels. The proposed method is implemented using C language in an embedded Linux system for a high-speed real-time image processing. Experiments were conducted by using various infrared images. The results show that the proposed algorithm is successful for the infrared image enhancement.

• 한국통신학회논문지
• /
• 제38A권9호
• /
• pp.773-781
• /
• 2013

허프 변환은 데이터 손실 및 왜곡이 포함된 영상에서도 직선 정보 추출에 용이한 장점이 있어 컴퓨터 비전 분야의 응용분야에 널리 사용되어 왔다. 그러나 허프 변환의 보팅 과정은 비효율적인 연산구조와 많은 메모리 접근횟수로 인해 실시간 처리 임베디드 비전 시스템에 적용하는데 한계가 있다. 이에 본 논문에서는 허프 변환의 개선된 보팅 정책을 제시하고, 이를 적용하여 적은 하드웨어 자원 사용량으로 실시간 성능을 만족하는 허프 변환의 하드웨어 구조를 제안한다. 제안된 보팅 정책은 인접한 픽셀 간의 관계를 이용하여 보팅 연산 과정의 오버헤드를 줄였으며, 하드웨어 재사용성을 높임으로서 효율적인 연산구조를 가진다. 이러한 개선된 보팅 정책을 적용한 제안된 하드웨어 구조는 인접한 픽셀들의 보트 값을 병렬적으로 연산하고 저장하여 시간당 처리량을 높인다. 제안 구조의 장점은 순차적 연산 방식 대비 매우 적은 추가 하드웨어 자원만으로 이러한 성능 향상을 위한 병렬화를 달성한다는 것이다.