• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.103-111
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• 2021

This study addresses a low-cost lidar sensor-based glass feature extraction method for an accurate map representation using statistical moments, i.e. the mean and variance. Since the low-cost lidar sensor produces range-only data without intensity and multi-echo data, there are some difficulties in detecting glass-like objects. In this study, a principle that an incidence angle of a ray emitted from the lidar with respect to a glass surface is close to zero degrees is concerned for glass detection. Besides, all sensor data are preprocessed and clustered, which is represented using statistical moments as glass feature candidates. Glass features are selected among the candidates according to several conditions based on the principle and geometric relation in the global coordinate system. The accumulated glass features are classified according to the distance, which is lastly represented on the map. Several experiments were conducted in glass environments. The results showed that the proposed method accurately extracted and represented glass windows using proper parameters. The parameters were empirically designed and carefully analyzed. In future work, we will implement and perform the conventional SLAM algorithms combined with our glass feature extraction method in glass environments.

• Journal of the Korea Society of Computer and Information
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• v.15 no.11
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• pp.75-82
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• 2010

The paper proposed CBIRS/EFI with contents based search technique using edge feature information of the object from image information of the object which is uncertain. In order to search specially efficiently case of partial image information of the object, we used the search technique which extracts outline information and color information in feature information of object. In order to experiment this, we extracted side edge feature information of the vehicle for feature information of the object after capture the car image of the underground garage. This is the system which applies a contents base search by the result which analyzes the image which extracts a feature, an original image to search and a last similar measurement result. This system compared in FE-CBIRS systems which are an existing feature extraction contents base image retrieval system and the function which improves the accuracy and an effectiveness of search rate was complemented. The performance appraisal of CBIRS/EFI systems applied edge extraction feature information and color information of the cars. And we compared a color feature search time, a shape characteristic search time and a search rate from the process which searches area feature information. We extracted the case 91.84% of car edge feature extraction rate. And a average search time of CBIRS/EFI is showing a difference of average 0.4-0.9 seconds than FE-CBIRS from vehicle. color search time, shape characteristic search time and similar search time. So, it was proven with the fact that is excellent.

• Journal of KIISE:Computing Practices and Letters
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• v.14 no.3
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• pp.331-335
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• 2008

In this paper, we parallelized a feature point extraction algorithm to reduce panorama image generation time in multi-core environment. While we compose a panorama image with several images, the step to extract feature points of each picture is needed to find overlapped region of pictures. To perform rapidly feature extraction stage which requires much calculation, we developed a parallel algorithm to extract feature points and examined the performance using CBE(Cell Broadband Engine) which is asymmetric multi-core architecture. As a result of the exam, the algorithm we proposed has a property of linear scalability-the performance is increased in proportion the number of processors utilized. In this paper, we will suggest how Image processing operation can make high performance result in multi-core environment.

• The Journal of Korea Robotics Society
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• v.7 no.3
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• pp.171-181
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• 2012

Outdoor mobile robots are faced with various terrain types having different characteristics. To run safely and carry out the mission, mobile robot should recognize terrain types, physical and geometric characteristics and so on. It is essential to control appropriate motion for each terrain characteristics. One way to determine the terrain types is to use non-contact sensor data such as vision and laser sensor. Another way is to use contact sensor data such as slope of body, vibration and current of motor that are reaction data from the ground to the tire. In this paper, we presented experimental results on terrain classification using contact sensor data. We made a mobile robot for collecting contact sensor data and collected data from four terrains we chose for experimental terrains. Through analysis of the collecting data, we suggested a new method of terrain feature extraction considering physical characteristics and confirmed that the proposed method can classify the four terrains that we chose for experimental terrains. We can also be confirmed that terrain feature extraction method using Fast Fourier Transform (FFT) typically used in previous studies and the proposed method have similar classification performance through back propagation learning algorithm. However, both methods differ in the amount of data including terrain feature information. So we defined an index determined by the amount of terrain feature information and classification error rate. And the index can evaluate classification efficiency. We compared the results of each method through the index. The comparison showed that our method is more efficient than the existing method.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.44 no.3
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• pp.90-97
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• 2007

For a highly reliable fingerprint recognition system, the precise and accurate feature extraction is indispensable. In this paper, We propose a highly efficient crease extraction method, which can improve the accuracy of feature extraction within the fingerprint image. The proposed method applies the 1-dimensional directional slit for each pixel in fingerprint image. And then it calculates the average grey level and variance to determine whether the current pixel composes the crease, and estimates the direction of crease. Once the direction of every pixel in crease candidate area is estimated, it is decomposed into 8 different images depending on their direction. From the 8 directional images, the crease clusters are estimated by utilizing the property of crease area. The proposed method finally extracts the crease from the crease clusters estimated from directional images. In conclusion, the proposed method highly improved the accuracy of overall feature extraction by accurate and precise extraction of the crease from fingerprint image.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.8 no.2
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• pp.36-44
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• 2009

In this paper, we suggest a system of detecting a vehicle with lane violation, which can detect the vehicle with lane violation, by using the feature point tracking. The whole algorithm in the suggested system of detecting a vehicle with lane violation is composed of three stages such as feature extraction, register and tracking in feature for the tracking-targeted vehicle, and detecting a vehicle with lane violation. In the stage of feature extraction, the feature is extracted from the inputted image by sing the feature-extraction algorithm available for the real-time processing. The extracted features are again selected the racking-targeted feature. The registered feature is tracked by using NCC(normalized cross correlation). Finally, whether or not lane violation is finally detected by using information on the tracked features. As a result of experimenting the suggested system by using the acquired image in the section with a ban on intervention, the excellent performance was shown with 99.09% for positive recognition ratio and 0.9% for error ratio. The fast processing speed could be obtained in 34.48 frames per second available for real-time processing.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.49 no.2
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• pp.28-34
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• 2012

Various feature extraction algorithms are widely applied to real-time image processing applications for extracting significant features from images. Feature extraction algorithms are mostly combined with image processing algorithms mostly for image tracking and recognition. Feature extraction function is used to supply feature information to the other image processing algorithms and it is mainly implemented in a preprocessing stage. Nowadays, image processing applications are faced with embedded system implementation for a real-time processing. In order to satisfy this requirement, it is necessary to reduce execution time so as to improve the performance. Reducing the time for executing a feature extraction function dose not only extend the execution time for the other image processing algorithms, but it also helps satisfy a real-time requirement. This paper explains FAST (Feature from Accelerated Segment Test algorithm) of E. Rosten and presents FPGA-based embedded hardware accelerator architecture. The proposed acceleration scheme can be implemented by using approximately 2,217 Flip Flops, 5,034 LUTs, 2,833 Slices, and 18 Block RAMs in the Xilinx Vertex IV FPGA. In the Modelsim - based simulation result, the proposed hardware accelerator takes 3.06 ms to extract 954 features from a image with $640{\times}480$ pixels and this result shows the cost effectiveness of the propose scheme.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.9 no.1
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• pp.119-127
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• 2000

In this study the classified researches the artificial and natural flaws in welding parts are performed using the pattern recognition technology. For this purpose the signal pattern recognition package including the user defined function was developed and the total procedure including the digital signal processing feature extraction feature selection and classifi-er selection is teated by bulk,. Specially it is composed with and discussed using the statistical classifier such as the linear discriminant function the empirical Bayesian classifier. Also the pattern recognition technology is applied to classifica-tion problem of natural flaw(i.e multiple classification problem-crack lack of penetration lack of fusion porosity and slag inclusion the planar and volumetric flaw classification problem), According to this result it is possible to acquire the recognition rate of 83% above even through it is different a little according to domain extracting the feature and the classifier.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1998.04a
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• pp.314-320
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• 1998

Wear debris morphology is closely related to the wear mode and mechanism occured. Image recognition of wear debris is, therefore, a powerful tool in wear monitoring. But it has usually required expert's experience and the results could be too subjective. Development of automatic tools for wear debris recognition is needed to solve this problem. In this work, an algorithm for automatic wear debris recognition was suggested and implemented by PC base software. The presented method defined a characteristic 3-dimensional feature space where typical types of wear debris were separately located by the knowledge-based system and compared the similarity of object wear debris concerned. The 3-dimensional feature space was obtained from multiple feature vectors by using a multi-dimensional scaling technique. The results showed that the presented automatic wear debris recognition was satisfactory in many cases application.

• Proceedings of the IEEK Conference
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• 2003.11a
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• pp.49-52
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• 2003

In this paper, we propose new speech feature parameter using NMf(Non-Negative Matrix Factorization). NMF can represent multi-dimensional data based on effective dimensional reduction through matrix factorization under the non-negativity constraint, and reduced data present parts-based features of input data. In this paper, we verify about usefulness of NMF algorithm for speech feature extraction applying feature parameter that is got using NMF in Mel-scaled filter bank output. According to recognition experiment result, we could confirm that proposal feature parameter is superior in recognition performance than MFCC(mel frequency cepstral coefficient) that is used generally.