• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.2
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• pp.198-204
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• 2012

Tracking and recognition of robots are required for the cooperation task of robots in various environments. In the paper, a tracking control system of moving robot using stereo image processing, code-book model and fuzzy controller is proposed. First, foreground and background images are separated by using code-book model method. A candidate region is selected based on the color information in the separated foreground image and real distance of the robot is estimated from matching process of depth image that is acquired through stereo image processing. The open and close processing of image are applied and labeling according to the size of mobile robot is used to recognize the moving robot effectively. A fuzzy tracking controller using distance information and mobile information by stereo image processing is designed for effective tracking according to the movement velocity of the target robot. The proposed fuzzy tracking control method is verified through tracking experiments of mobile robots with stereo camera.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1534-1538
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• 2005

In this paper, we propose a method to detect contours of a face, eyes, and a mouth of a person in the color image in order to make an avatar automatically. First, we use the HSI color model to exclude the effect of various light conditions, and find skin regions in the input image by using the skin color defined on HS-plane. And then, we use deformable templates and genetic algorithm (GA) to detect contours of a face, eyes, and a mouth. Deformable templates consist of B-spline curves and control point vectors. Those represent various shapes of a face, eyes and a mouth. GA is a very useful search algorithm based on the principals of natural selection and genetics. Second, the avatar is automatically created by using GA-detected contours and Fuzzy C-Means clustering (FCM). FCM is used to reduce the number of face colors. In result, we could create avatars which look like handmade caricatures representing user's identity. Our approach differs from those generated by existing methods.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.15 no.3
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• pp.180-185
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• 2015

Digital infrared thermal imaging is a non-invasive adjunctive diagnostic technique that allows an examiner to visualize and quantify changes in skin surface temperature. The asymmetry of temperature differences between the diseased and the contralateral healthy body parts can be automatically analyzed and has been studied in many areas of medical science. In this paper, we propose a method for intelligent automatic asymmetry detection based on a K-means analysis and a YCbCr color model. The implemented software successfully visualizes an asymmetric distribution of colors with respect to the patients’ health status.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.5
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• pp.696-704
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• 2013

In this paper, we introduce the LED emotional lighting system realized with the aid of both intelligent algorithm and RGB LED combined with White LED. Generally, the illumination is known as a design factor to form the living place that affects human's emotion and action in the light- space as well as the purpose to light up the specific space. The LED emotional lighting system that can express emotional atmosphere as well as control the quantity of light is designed by using both RGB LED to form the emotional mood and W LED to get sufficient amount of light. RBFNNs is used as the intelligent algorithm and the network model designed with the aid of LED control parameters (viz. color coordinates (x and y) related to color temperature, and lux as inputs, RGBW current as output) plays an important role to build up the LED emotional lighting system for obtaining appropriate color space. Unlike conventional RBFNNs, Fuzzy C-Means(FCM) clustering method is used to obtain the fitness values of the receptive function, and the connection weights of the consequence part of networks are expressed by polynomial functions. Also, the parameters of RBFNN model are optimized by using PSO(Particle Swarm Optimization). The proposed LED emotional lighting can save the energy by using the LED light source and improve the ability to work as well as to learn by making an adequate mood under diverse surrounding conditions.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.1
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• pp.110-115
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• 2005

This paper proposes the method to detect contours of a face, eyes and a mouth in a color image for making an avatar automatically. First, we use the HSI color model to exclude the effect of various light condition, and we find skin regions in an input image by using the skin color is defined on HS-plane. And then, we use deformable templates and Genetic Algorithm(GA) to detect contours of a face, eyes and a mouth. Deformable templates consist of B-spline curves and control point vectors. Those can represent various shape of a face, eyes and a mouth. And GA is very useful search procedure based on the mechanics of natural selection and natural genetics. Second, an avatar is created automatically by using contours and Fuzzy C-means clustering(FCM). FCM is used to reduce the number of face color As a result, we could create avatars like handmade caricatures which can represent the user's identity, differing from ones generated by the existing methods.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.4 no.2
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• pp.165-171
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• 2004

Robots will be able to coexist with humans and support humans effectively in near future. One of the most important aspects in the development of human-friendly robots is to cooperation between humans and robots. In this paper, we proposed a method for multi-object identification in order to achieve such human-centered system and robot localization in intelligent space. The intelligent space is the space where many intelligent devices, such as computers and sensors, are distributed. The Intelligent Space achieves the human centered services by accelerating the physical and psychological interaction between humans and intelligent devices. As an intelligent device of the Intelligent Space, a color CCD camera module, which includes processing and networking part, has been chosen. The Intelligent Space requires functions of identifying and tracking the multiple objects to realize appropriate services to users under the multi-camera environments. In order to achieve seamless tracking and location estimation many camera modules are distributed. They causes some errors about object identification among different camera modules. This paper describes appearance based object representation for the distributed vision system in Intelligent Space to achieve consistent labeling of all objects. Then, we discuss how to learn the object color appearance model and how to achieve the multi-object tracking under occlusions.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.10 no.2
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• pp.101-106
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• 2010

We propose an approach to estimate the real-time moving trajectory of an object in this paper. The object's position is obtained from the image data of a CCD camera, while a state estimator predicts the linear and angular velocities of the moving object. To overcome the uncertainties and noises residing in the input data, a Extended Kalman Filter(EKF) and neural networks are utilized cooperatively. Since the EKF needs to approximate a nonlinear system into a linear model in order to estimate the states, there still exist errors as well as uncertainties. To resolve this problem, in this approach the Kohonen networks, which have a high adaptability to the memory of the inputoutput relationship, are utilized for the nonlinear region. In addition to this, the Kohonen network, as a sort of neural network, can effectively adapt to the dynamic variations and become robust against noises. This approach is derived from the observation that the Kohonen network is a type of self-organized map and is spatially oriented, which makes it suitable for determining the trajectories of moving objects. The superiority of the proposed algorithm compared with the EKF is demonstrated through real experiments.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.16 no.4
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• pp.246-253
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• 2016

Infrared (IR) imaging has been researched for various applications such as surveillance. IR radiation has the capability to detect thermal characteristics of objects under low-light conditions. However, automatic segmentation for finding the object of interest would be challenging since the IR detector often provides the low spatial and contrast resolution image without color and texture information. Another hindrance is that the image can be degraded by noise and clutters. This paper proposes multi-level segmentation for extracting regions of interest (ROIs) and objects of interest (OOIs) in the IR scene. Each level of the multi-level segmentation is composed of a k-means clustering algorithm, an expectation-maximization (EM) algorithm, and a decision process. The k-means clustering initializes the parameters of the Gaussian mixture model (GMM), and the EM algorithm estimates those parameters iteratively. During the multi-level segmentation, the area extracted at one level becomes the input to the next level segmentation. Thus, the segmentation is consecutively performed narrowing the area to be processed. The foreground objects are individually extracted from the final ROI windows. In the experiments, the effectiveness of the proposed method is demonstrated using several IR images, in which human subjects are captured at a long distance. The average probability of error is shown to be lower than that obtained from other conventional methods such as Gonzalez, Otsu, k-means, and EM methods.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.1
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• pp.64-70
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• 2014

In this paper, we propose a method that gives motion command to a mobile robot to recognize human being's hand gesture. Former way of the robot-controlling system with the movement of hand used several kinds of pre-arranged gesture, therefore the ordering motion was unnatural. Also it forced people to study the pre-arranged gesture, making it more inconvenient. To solve this problem, there are many researches going on trying to figure out another way to make the machine to recognize the movement of the hand. In this paper, we used third-dimensional camera to obtain the color and depth data, which can be used to search the human hand and recognize its movement based on it. We used HMM method to make the proposed system to perceive the movement, then the observed data transfers to the robot making it to move at the direction where we want it to be.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.7
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• pp.801-806
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• 2004

Although the technology for emotion recognition is important one which demanded in various fields, it still remains as the unsolved problem. Especially, it needs to develop the algorithm based on human facial image. In this paper, we propose the facial image analysis algorithm for emotion recognition. The proposed algorithm is composed as the facial image extraction algorithm and the facial component extraction algorithm. In order to have robust performance under various illumination conditions, the fuzzy color filter is proposed in facial image extraction algorithm. In facial component extraction algorithm, the virtual face model is used to give information for high accuracy analysis. Finally, the simulations are given in order to check and evaluate the performance.