• International Journal of Control, Automation, and Systems
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• v.5 no.6
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• pp.663-673
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• 2007

This paper presents a new moving obstacle detection method using an optical flow in mobile robot with an omnidirectional camera. Because an omnidirectional camera consists of a nonlinear mirror and CCD camera, the optical flow pattern in omnidirectional image is different from the pattern in perspective camera. The geometry characteristic of an omnidirectional camera has influence on the optical flow in omnidirectional image. When a mobile robot with an omnidirectional camera moves, the optical flow is not only theoretically calculated in omnidirectional image, but also investigated in omnidirectional and panoramic images. In this paper, the panoramic image is generalized from an omnidirectional image using the geometry of an omnidirectional camera. In particular, Focus of expansion (FOE) and focus of contraction (FOC) vectors are defined from the estimated optical flow in omnidirectional and panoramic images. FOE and FOC vectors are used as reference vectors for the relative evaluation of optical flow. The moving obstacle is turned out through the relative evaluation of optical flows. The proposed algorithm is tested in four motions of a mobile robot including straight forward, left turn, right turn and rotation. The effectiveness of the proposed method is shown by the experimental results.

• Journal of KIISE:Computer Systems and Theory
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• v.30 no.11
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• pp.610-620
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• 2003

Various shadows are one of main factors that cause errors in vision based vehicle detection. In this paper, two simple methods, land mark based method and BS & Edge method, are proposed for vehicle detection and shadow rejection. In the experiments, the accuracy of vehicle detection is higher than 96%, during which the shadows arisen from roadside buildings grew considerably. Based on these two methods, vehicle counting, tracking, classification, and speed estimation are achieved so that real-time traffic parameters concerning traffic flow can be extracted to describe the load of each lane.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1977-1978
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• 2006

This paper discusses the method of vision based sensor fusion system for biped robot walking. Most researches on biped walking robot have mostly focused on walking algorithm itself. However, developing vision systems for biped walking robot is an important and urgent issue since biped walking robots are ultimately developed not only for researches but to be utilized in real life. In the research, systems for environment recognition and tele-operation have been developed for task assignment and execution of biped robot as well as for human robot interaction (HRI) system. For carrying out certain tasks, an object tracking system using modified optical flow algorithm and obstacle recognition system using enhanced template matching and hierarchical support vector machine algorithm by wireless vision camera are implemented with sensor fusion system using other sensors installed in a biped walking robot. Also systems for robot manipulating and communication with user have been developed for robot.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.6
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• pp.547-554
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• 2013

This paper proposes a novel formation algorithm of identical robots based on object tracking method using omni-directional images obtained through fisheye lenses which are mounted on the robots. Conventional formation methods of multi-robots often use stereo vision system or vision system with reflector instead of general purpose camera which has small angle of view to enlarge view angle of camera. In addition, to make up the lack of image information on the environment, robots share the information on their positions through communication. The proposed system estimates the region of robots using SURF in fisheye images that have $360^{\circ}$ of image information without merging images. The whole system controls formation of robots based on moving directions and velocities of robots which can be obtained by applying Lucas-Kanade Optical Flow Estimation for the estimated region of robots. We confirmed the reliability of the proposed formation control strategy for multi-robots through both simulation and experiment.

• Korean Institute of Interior Design Journal
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• v.22 no.5
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• pp.162-170
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• 2013

Although vision has been considered as a top sensory organ in the Western culture until modern times, the significance of space experience that communicates with a body via complex perceptions has recently garnered attention. This study criticizes the limitations of a vision-centered space and has the goal of empirically examining the sensibility characteristics in a haptic space through post-structuralism views leading up to Gilles Deleuze's philosophical ideas. This study will explore the flow of senses from the philosophical and artistic standpoint and the sensibility characteristics in a haptic space by examining the theories on haptic perceptions in connection with a space. In order to test the existing theories and identify the differences in sensibilities depending on perceptual method, the sensibilities of participants were compared using SD method (Semantic Differential scale method) and a validity test was conducted using a statistical program SPSS. The research has revealed that the average sensitivity scale of complex haptic perception was higher than single perception that only relies on vision. In addition, there was a correlation between perceptual method based on various sensory organs and human sensitivities. This study is meaningful in that it can serve a foundation for empirical research on sensibility, since it has reexamined the relationship between space and participants and demonstrated and analyzed their sensitivities through an experiment.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.3
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• pp.274-282
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• 2011

This paper is focused on dynamic modeling and control system design as well as vision based collision avoidance for multi-rotor unmanned aerial vehicles (UAVs). Multi-rotor UAVs are defined as rotary-winged UAVs with multiple rotors. These multi-rotor UAVs can be utilized in various military situations such as surveillance and reconnaissance. They can also be used for obtaining visual information from steep terrains or disaster sites. In this paper, a quad-rotor model is introduced as well as its control system, which is designed based on a proportional-integral-derivative controller and vision-based collision avoidance control system. Additionally, in order for a UAV to navigate safely in areas such as buildings and offices with a number of obstacles, there must be a collision avoidance algorithm installed in the UAV's hardware, which should include the detection of obstacles, avoidance maneuvering, etc. In this paper, the optical flow method, one of the vision-based collision avoidance techniques, is introduced, and multi-rotor UAV's collision avoidance simulations are described in various virtual environments in order to demonstrate its avoidance performance.

• Journal of the Korean Society of Visualization
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• v.16 no.2
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• pp.23-30
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• 2018

The present study compares flow fields reconstructed by data assimilation method with different combinations of parameters. As a data assimilation method, Vortex-in-Cell-sharp (VIC#), which supplements additional constraints and multigrid approximation to Vortex-in-Cell-plus (VIC+), is used to reconstruct flow fields from scattered particle tracks. Two parameters, standard deviation of Gaussian radial basis function (RBF) and grid spacing, are mainly tested using artificial data sets which contain few particle tracks. Consequent flow fields are analyzed in terms of flow structure sizes. It is demonstrated that sizes of the flow structures are proportional to an actual scale of the standard deviation of RBF. It implies that a combination of larger grid spacing and smaller standard deviation which preserves the actual standard deviation is able to save computational resources in case of a low track density. In addition, a simple comparison using an experimental data filled with dense particle tracks is conducted.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.11
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• pp.935-940
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• 2002

For robot navigation and visual reconstruction, structure from motion (SFM) is an active issue in computer vision community and its properties arc also becoming well understood. In this paper, when using stereo image sequence and direct method as a tool for SFM, we present a new method for overcoming bas-relief ambiguity. We first show that the direct methods, based on optical flow constraint equation, are also intrinsically exposed to such ambiguity although they introduce robust methods. Therefore, regarding the motion and depth estimation by the robust and direct method as approximated ones. we suggest a method that refines both stereo displacement and motion displacement with sub-pixel accuracy, which is the central process f3r improving its ambiguity. Experiments with real image sequences have been executed and we show that the proposed algorithm has improved the estimation accuracy.

• Journal of Korea Multimedia Society
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• v.25 no.2
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• pp.247-256
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• 2022

Visual tracking of selected target objects is fundamental challenging problems in computer vision. Object tracking localize the region of target object with bounding box in the video. We propose a Siam-FPN based custom fully CNN to solve visual tracking problems by regressing the target area in an end-to-end manner. A method of preserving the feature information flow using a feature map connection structure was applied. In this way, information is preserved and emphasized across the network. To regress object region and to classify object, the region proposal network was connected with the Siamese network. The performance of the tracking algorithm was evaluated using the OTB-100 dataset. Success Plot and Precision Plot were used as evaluation matrix. As a result of the experiment, 0.621 in Success Plot and 0.838 in Precision Plot were achieved.

• East Asian Economic Review
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• v.27 no.4
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• pp.303-325
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• 2023

This paper examines how APEC has transformed itself into an international forum for the vision of regional integration. It aims to quantify the documentation produced by the international organization and provide quantifiable evidence that aligns with prior knowledge rather than relying solely on intuition. For this purpose, I use various text mining techniques to extract multi-dimensional features from the text of APEC Leaders' Declarations from 1993 to 2023. In terms of interest and expectations for APEC as a forum, it is found that members have experienced two major peaks and troughs over the last three decades. It is found that the change point coincides with the Asian financial crisis of 1997 and the tensions between the United States and China since 2017. To explore more various aspects of economic integration in the Asia-Pacific region, this study also considers how consistently APEC has been an international forum for addressing issues, which members are active, and how members have clustered based on their views of APEC.