• 한국정밀공학회지
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• 제28권3호
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• pp.330-338
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• 2011

Odometry is the critical factor to estimate the location of the robot. In the mobile robot with wheels, odometry can be performed using the information from the encoder. However, the information of location in the encoder is inaccurate because of the errors caused by the wheel's alignment or slip. In general, visual odometer has been used to compensate for the kinetic errors of robot. In case of using the visual odometry under some robot system, the kinetic analysis is required for compensation of errors, which means that the conventional visual odometry cannot be easily applied to the implementation of the other type of the robot system. In this paper, the novel visual odometry, which employs only the single camera toward the ground, is proposed. The camera is mounted at the center of the bottom of the mobile robot. Feature points of the ground image are extracted by using median filter and color contrast filter. In addition, the linear and angular vectors of the mobile robot are calculated with feature points matching, and the visual odometry is performed by using these linear and angular vectors. The proposed odometry is verified through the experimental results of driving tests using the encoder and the new visual odometry.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 1996년도 Proceedings International Workshop on New Video Media Technology
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• pp.72-76
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• 1996

We propose a novel algorithm for fractal video sequence coding, based on the circular prediction mapping (CPM), in which each range block is approximated by a domain block in the circularly previous frame. In our approach, the size of the domain block is set to be same as that of the range block for exploiting the high temporal correlation between the adjacent frames, while most other fractal coders use the domain block larger than the range block. Therefore the domain-range mapping in the CPM is similar to the block matching algorithm in the motion compensation techniques, and the advantages of this similarity are discussed. Also we show that the CPM can be combined with non-contractive inter-frame mapping (NCIM), improving the performance of the fractal sequence coder further. The computer simulation results on real image sequences demonstrate that the proposed algorithm provides very promising performance at low bit-rate, ranging from 40 Kbps to 250 Kbps.

• 한국통신학회논문지
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• 제28권6C호
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• pp.602-608
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• 2003

본 논문에서는 고속 동영상 압축을 위한 효율적인 DCT 계산 방식을 제안한다. 본 논문은 먼저 기존 움직임 추정 및 보상 과정에서 얻어지는 SAD가 양수 항과 음수 항의 합으로 분해됨을 유도한다. 그리고 이론적 분석을 통하여 기존 DCT 계산이 양수 항의 합과 음수 항의 합에 따라 DCT 생략, Reduced_DCT1, Reduced_DCT2, 그리고 DCT의 4가지 경우들로 분류될 수 있음을 보인다. 이러한 사실에 기초하여 제안 알고리듬에서는 효율적인 DCT 계산을 위하여 4가지 유형중에 하나가 선택되어 사용되어진다. 모의 실험 결과는 복원 화질의 저하와 부가 계산량 없이 평균 25.2% 정도의 계산량 감소가 이루어짐을 보여준다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제5권12호
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• pp.2355-2373
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• 2011

Vision-based vehicle detector systems are becoming increasingly important in ITS applications. Real-time operation, robustness, precision, accurate estimation of traffic parameters, and ease of setup are important features to be considered in developing such systems. Further, accurate vehicle detection is difficult in varied complex traffic environments. These environments include changes in weather as well as challenging traffic conditions, such as shadow effects and jams. To meet real-time requirements, the proposed system first applies a color background to extract moving objects, which are then tracked by considering their relative distances and directions. To achieve robustness and precision, the color background is regularly updated by the proposed algorithm to overcome luminance variations. This paper also proposes a scheme of feedback compensation to resolve background convergence errors, which occur when vehicles temporarily park on the roadside while the background image is being converged. Next, vehicle occlusion is resolved using the proposed prior split approach and through reasoning for rule-based tracking. This approach can automatically detect straight lanes. Following this step, trajectories are applied to derive traffic parameters; finally, to facilitate easy setup, we propose a means to automate the setting of the system parameters. Experimental results show that the system can operate well under various complex traffic conditions in real time.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2012년도 제42회 동계 정기 학술대회 초록집
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• pp.319-319
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• 2012

현재 폭넓게 이용되고 있는 STI (Shallow Trench Isolation) 공정에서 active edge 부분에 발생하는 기생 transistor의 subthreshold hump 특성을 제어하는 연구가 활발히 이루어지고 있다. 일반적으로 STI 공정을 이용하는 MOSFET에서 active edge 부분의 얇게 형성된 gate oxide, sharp한 active edge 형성, STI gap-fill 공정 중에 생기는 channel dopant out-diffusion은 subthreshold hump 특성의 주된 요인이다. 이와 같은 문제점을 해결하기 위해 active edge rounding process와 channel dopant compensation의 implantation을 이용하여 subthresold hump 특성 개선을 연구하였다. 본 연구는 STI 공정에 필요한 wafer와 phosphorus를 함유한 wafer를 한 chamber 안에서 auto-doping하는 방법을 이용하여 subthresold hump 특성을 구현하였다. phosphorus를 함유한 wafer에서 빠져나온 phosphorus가 STI 공정중인 wafer로 침투하여, active edge 부분의 channel dopant인 boron 농도를 상대적으로 낮춰 active edge 부분의 가 감소하고 leakage current를 증가시킨다. transistor의 channel length, gate width이고, wafer#No가 클수록 phosphorous를 함유한 wafer까지의 거리는 가까워진다. wafer #01은 hump 특성이 없고, wafer#20은 에서 심한 subthreshold hump 특성을 보였다. channel length 고정, gate width를 ~으로 가변하여 width에 따른 영향을 실험하였다. active 부분에 대한 SCM image로 확인된 phosphorus에 의한 active edge 부분의 boron 농도 감소와 gate width vs curve에서 확인된 phosphorus에 의한 감소가 narrow width로 갈수록 커짐을 확인하였다.

• 한국가구학회지
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• 제22권3호
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• pp.230-238
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• 2011

Consumers' expenditure is getting larger on children due to their parents' compensation for increase of double-income family life and decrease of birth rate caused by high economic growth. Increase of demand on children items in the market leads the necessity of development of furniture for children. This study is aimed to design children chairs that meet the environment for children. In this study, the age of children is defined to be 5~7 years old. In order to investigate what causes environment change, this study covers roughly change of environment, change of learning program and use of environment-friendly material. In such scope, we drew out the factors that the chairs for children shall be equipped with. Case studies were done through such drawn factors. The scope of the furniture for children is limited to the chairs for children among the ones made in either Korea or overseas. As a result, we could draw out such keyword of the furniture as storage, mobility, environment-friendly, object style image, preferred color, functionality and safety, based on which we could plan the design and make the final result through high frequency round molding manufacturing process.

• 한국정보통신학회논문지
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• 제15권1호
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• pp.33-40
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• 2011

본 논문에서는 단일 반송파 기반의 디지털 변조 기법들의 성능을 수중 통신 실험을 통하여 분석하였다. 통신 실험은 실제 해상에서 수행되었으며 적용된 변조기법은 위상 비동기 방식인 ASK, FSK와 위상 동기 방식의 QPSK이다. 통신 성능을 평가하기 위해 이미지 파일을 600bps~3Kbps의 전송률을 가지는 신호로 변조하여 전송하였다. 수신된 신호를 복조하여 BER을 추정한 결과 ASK와 FSK의 경우 보상 알고리즘 없이 $10^{-3}{\sim}10^{-4}$의 오차율을 나타내었고, QPSK의 경우 선형 등화기를 이용하여 $10^{-4}$의 오차율을 가지는 통신이 가능함을 확인하였다.

• 한국통신학회논문지
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• 제28권3C호
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• pp.257-263
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• 2003

최근 wireless network이나 internet과 같이 오류가 많이 발생하는 channel을 통한 video의 전송이 급격히 증가하면서 channel상에서 발생하는 전송에러로 인한 데이터의 손실이 심각한 문제로 대두되고 있다. 따라서 영상통신에서의 error control과 concealment가 주된 관심사로 부각되었다. 본 논문은 MPEG-4나 H.263등의 방식으로 압축된 비디오를 전송하는 동안 채널 상에서 발생하는 전송에러로 인하여 블록 손실이 일어난 영상에 대해 디코더에서의 후처리 (postprocessing)에 의한 시간적 에러 은닉 (error concealment) 기술을 이용하여 손실된 블록을 정정하는 기법에 대하여 연구하였다. 손실된 블록 주위의 정상 블록의 움직임 벡터들을 이용하여 중간 (median) 값을 취한 후, 손실된 블록의 새로운 움직임 벡터로 할당하고, overlapped block motion compensation (OBMC)을 통해 최종적으로 손실영역을 은닉하게된다. 그 결과 계산량이 적고, PSNR 성능평가 면에서는 제안한 방법의 결과가 기존의 방법들 중 우수한 에러 은닉 결과를 내는 MVRI (Motion Vector Rational Interpolation) EC 2-D Case of All Directions보다 약 1.4∼3.5㏈정도 향상된 견과를 얻을 수 있었다.

• 전자공학회논문지B
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• 제30B권7호
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• pp.70-82
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• 1993

In this paper, employing the 3-dimensional discrete cosine transform (DCT) for the utilization of the temporal correlation, an adaptive motion sequence coding technique is proposed. The energy distribution in a 3-D DCT block, due to the nonstationary nature of the image data, varies along the veritical, horizontal and temporal directions. Thus, aiming an adaptive system to local variations, adaptive procedures, such as the 3-D classification, the classified linear scanning technique and the VLC table selection scheme, have been implemented in our approach. Also, a hybrid structure which adaptively combines inter-frame coding is presented, and it is found that the adaptive hybrid frame coding technique shows a significant performance gain for a moving sequence which contains a relatively small moving area. Through an intensive computer simulation, it is demonstrated that, the performance of the proposed 3-D transform coding technique shows a close relation with the temporal variation of the sequence to be code. And the proposed technique has the advantages of skipping the computationally complex motion compensation procedure and improving the performance over the 2-D motion compensated transform coding technique for rates in the range of 0.5 ~ 1.0 bpp.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 1999년도 추계종합학술대회
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• pp.193-198
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• 1999

In the 21th century, everyone feels that the multimedia system is close at hand in real life due to the rapid advance of the computer processing ability and high speed and high guality of communication services. Also the limited frequencies resource will be optimized due to rapid advances in digital video technology which is believed superior to analogue technology in information engineering. MEPG-2 has been introduced for broadcasting use such as digital TV Thus it features the high-definition and hyper-low bit rate. But, because of much throughput it has been implemented by high-priced private ASIC chip and is not in general use yet. But in this research, noticing the rapid enhancement of PC processor performance comparing with the price. MPEG-2 was developed by real time software MPEG-2 had been known impossible to implement with S/W, but the research proved the possibility of the S/W implementation and below are the pictures also in the research was improved 'Motion Vector and Compensation' Algorithm which requires the most operations and UT was made possible real time process. Multimedia Info Society has settled and accompanied by the rapid advance of image-processing technology and lots of standards.