• The Journal of Korea Robotics Society
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• 제15권1호
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• pp.1-7
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• 2020

In this paper, we introduce the methodology that utilizes deep learning-based front-end to enhance underwater feature matching. Both optical camera and sonar are widely applicable sensors in underwater research, however, each sensor has its own weaknesses, such as light condition and turbidity for the optic camera, and noise for sonar. To overcome the problems, we proposed the opti-acoustic transformation method. Since feature detection in sonar image is challenging, we converted the sonar image to an optic style image. Maintaining the main contents in the sonar image, CNN-based style transfer method changed the style of the image that facilitates feature detection. Finally, we verified our result using cosine similarity comparison and feature matching against the original optic image.

• Journal of Institute of Control, Robotics and Systems
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• 제19권5호
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• pp.457-461
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• 2013

This paper proposes an image feature-based real-time RGB-D (Red-Green-Blue Depth) 3D SLAM (Simultaneous Localization and Mapping) system. RGB-D data from Kinect style sensors contain a 2D image and per-pixel depth information. 6-DOF (Degree-of-Freedom) visual odometry is obtained through the 3D-RANSAC (RANdom SAmple Consensus) algorithm with 2D image features and depth data. For speed up extraction of features, parallel computation is performed with GPU acceleration. After a feature manager detects a loop closure, a graph-based SLAM algorithm optimizes trajectory of the sensor and builds a 3D point cloud based map.

• Proceedings of the KSRS Conference
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• 대한원격탐사학회 2008년도 International Symposium on Remote Sensing
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• pp.361-364
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• 2008

It is well known that combining spatial and spectral information can improve land use classification from satellite imagery. High spatial resolution classification has a limitation when only using the spectral information due to the complex spatial arrangement of features and spectral heterogeneity within each class. Therefore, extracting the spatial information is one of the most important steps in high resolution satellite image classification. In this paper, we propose a new spatial feature extraction method. The extracted features are integrated with spectral bands to improve overall classification accuracy. The classification is achieved by applying a Support Vector Machines classifier. In order to evaluate the proposed feature extraction method, we applied our approach to KOMPSAT-2 data and compared the result with the other methods.

• Smart Structures and Systems
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• 제20권6호
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• pp.683-696
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• 2017

In this study, the reliability of nonlinear ultrasonic modulation based fatigue crack detection is improved using a feature-level data fusion approach. When two ultrasonic inputs at two distinct frequencies are applied to a specimen with a fatigue crack, modulation components at the summation and difference of these two input frequencies appear. First, the spectral amplitudes of the modulation components and their spectral correlations are defined as individual features. Then, a 2D feature space is constructed by combining these two features, and the presence of a fatigue crack is identified in the feature space. The effectiveness of the proposed fatigue crack detection technique is experimentally validated through cyclic loading tests of aluminum plates, full-scale steel girders and a rotating shaft component. Subsequently, the improved reliability of the proposed technique is quantitatively investigated using receiver operating characteristic analysis. The uniqueness of this study lies in (1) improvement of nonlinear ultrasonic modulation based fatigue crack detection reliability using feature-level data fusion, (2) reference-free fatigue crack diagnosis without using the baseline data obtained from the intact condition of the structure, (3) application to full-scale steel girders and shaft component, and (4) quantitative investigation of the improved reliability using receiver operating characteristic analysis.

• Hwankyungkyoyuk
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• 제18권2호
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• pp.113-125
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• 2005

Korea, China and Japan show distinct features in their school environmental education, which are derived from their own spreading processes. Japanese school environmental education has developed as a result of assimilating of anti-pollution education and nature education, and has a feature that makes much of nature experiences. The introduction of 'Period for Integrated Study' in 2002 seems to begin activating Japanese school environmental education. Chinese school environmental education started in higher education institutions around the middle of 1970's, and has a feature that makes a point of scientific approach, even in primary education schools. The two government ordinances,'National Action Program for Environmental General Knowledge ($1996{\sim}2010$)' and 'Educational Scheme of Environmental Theme Study for Elementary and Secondary School Students' issued in 2003, gradually promote school environmental education in China. It is remarkable that Science and Technology Centers for Youth and also increasing environmental NPOs often support environmental activities in elementary or secondary schools. The most notable feature of Korean school environmental education is that 'Environment' has already offered as a regular elective subject in junior high school, and official 'Environment' textbook has published since early 1990's. Though, the adoption rate of 'Environment' is not yet so high. Each country's peculiar issues are as follows. Japan: (1) Students often lack basic knowledge about environmental important problems. (2) 'Period for Integrated Study' is now threatened with cutting hours by the idea of increasing periods for basic subjects to keep high achievement. China: (1) There are large regional differences and school distinctions in operation of environmental education. (2) Adult environmental education needs to be expanded, because the most part of Chinese have no experience of school environmental education. Korea: (1) The relationship between the administrative division which plans school environmental education and teachers group is not quite well. The adoption rate of 'Environment' in junior high school needs to be improved. The training of many teachers for environmental education instructors may be the most important and effective cooperative action among Korea, China and Japan, and for that purpose we ought to work on making a better handbook for instructors, at first.

• Journal of Ocean Engineering and Technology
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• 제30권3호
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• pp.214-220
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• 2016

Imaging sonars such as side-scanning sonar or forward-looking sonar are becoming fundamental sensors in the underwater robotics field. However, using sonar images for underwater perception presents many challenges. Sonar images are usually low resolution with inherent speckled noise. To overcome the limited sensor information for underwater perception, we investigated preprocessing methods for sonar images and feature detection methods for a nonlinear scale space. In this paper, we focus on a comparative analysis of (1) preprocessing for sonar images and (2) the feature detection performance in relation to the scale space composition.

• Structural Monitoring and Maintenance
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• 제9권2호
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• pp.179-200
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• 2022

This paper proposes a data-driven methodology for online early damage identification under changing environmental conditions. The proposed method relies on two data analysis methods: feature-based method and hybrid principal component analysis (PCA) and kernel PCA to separate damage from environmental influences. First, spectral sub-band features, namely, spectral sub-band centroids (SSCs) and log spectral sub-band energies (LSSEs), are proposed as damage-sensitive features to extract damage information from measured structural responses. Second, hybrid modeling by integrating PCA and kernel PCA is performed on the spectral sub-band feature matrix for data normalization to extract both linear and nonlinear features for nonlinear procedure monitoring. After feature normalization, suppressing environmental effects, the control charts (Hotelling T² and SPE statistics) is implemented to novelty detection and distinguish damage in structures. The hybrid PCA-KPCA technique is compared to KPCA by applying support vector machine (SVM) to evaluate the effectiveness of its performance in detecting damage. The proposed method is verified through numerical and full-scale studies (a Bridge Health Monitoring (BHM) Benchmark Problem and a cable-stayed bridge in China). The results demonstrate that the proposed method can detect the structural damage accurately and reduce false alarms by suppressing the effects and interference of environmental variations.

• The Journal of Korea Robotics Society
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• 제11권3호
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• pp.115-126
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• 2016

This paper suggests the method of the spherical signature description of 3D point clouds taken from the laser range scanner on the ground vehicle. Based on the spherical signature description of each point, the extractor of significant environmental features is learned by the Deep Belief Nets for the urban structure classification. Arbitrary point among the 3D point cloud can represents its signature in its sky surface by using several neighborhood points. The unit spherical surface centered on that point can be considered to accumulate the evidence of each angular tessellation. According to a kind of point area such as wall, ground, tree, car, and so on, the results of spherical signature description look so different each other. These data can be applied into the Deep Belief Nets, which is one of the Deep Neural Networks, for learning the environmental feature extractor. With this learned feature extractor, 3D points can be classified due to its urban structures well. Experimental results prove that the proposed method based on the spherical signature description and the Deep Belief Nets is suitable for the mobile robots in terms of the classification accuracy.

• The Journal of Korea Robotics Society
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• 제12권4호
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• pp.385-394
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• 2017

Side scanning sonar (SSS) provides valuable information for robot navigation. However using the side scanning sonar images in the navigation was not fully studied. In this paper, we use range data, and side scanning sonar images from UnderWater Simulator (UWSim) and propose measurement models in a feature based simultaneous localization and mapping (SLAM) framework. The range data is obtained by echosounder and sidescanning sonar images from side scan sonar module for UWSim. For the feature, we used the A-KAZE feature for the SSS image matching and adjusting the relative robot pose by SSS bundle adjustment (BA) with Ceres solver. We use BA for the loop closure constraint of pose-graph SLAM. We used the Incremental Smoothing and Mapping (iSAM) to optimize the graph. The optimized trajectory was compared against the dead reckoning (DR).

• Computers and Concrete
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• 제32권3호
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• pp.233-246
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• 2023

Accurate prediction of concrete compressive strength can minimize the need for extensive, time-consuming, and costly mixture optimization testing and analysis. This study attempts to enhance the prediction accuracy of compressive strength using stacking ensemble machine learning (ML) with feature engineering techniques. Seven alternative ML models of increasing complexity were implemented and compared, including linear regression, SVM, decision tree, multiple layer perceptron, random forest, Xgboost and Adaboost. To further improve the prediction accuracy, a ML pipeline was proposed in which the feature engineering technique was implemented, and a two-layer stacked model was developed. The k-fold cross-validation approach was employed to optimize model parameters and train the stacked model. The stacked model showed superior performance in predicting concrete compressive strength with a correlation of determination (R²) of 0.985. Feature (i.e., variable) importance was determined to demonstrate how useful the synthetic features are in prediction and provide better interpretability of the data and the model. The methodology in this study promotes a more thorough assessment of alternative ML algorithms and rather than focusing on any single ML model type for concrete compressive strength prediction.