• The Journal of the Acoustical Society of Korea
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• v.14 no.6
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• pp.74-79
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• 1995

This paper proposes the stereo LVFC-Robot which Imitates eyes and arms of man. we derived linear approximation equation between visual space and joint space by minimum square method and then applied it to the proposed stereo LVFC-Robot. As a result of a simulation, its efficency is verified. Compared with the stereo VFC, the stereo LVFC Robot don't need the Image Jacobian and the Robot Jacobian. Thus it is possible to control Robot in real time.

• Proceedings of the KSRS Conference
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• 2008.10a
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• pp.18-21
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• 2008

Lee (2008) proposed the pansharpening method to reconstruct at the higher resolution the multispectral images which agree with the spectral values observed from the sensor of the lower resolution values. It outperformed over several current techniques for the statistical analysis with quantitative measures, and generated the imagery of good quality for visual interpretation. However, if a small object stretches over two adjacent pixels with different spectral characteristics at the lower resolution, the pixels of the object at the higher resolution may have different multispectral values according to their location even though they have a same intensity in the panchromatic image of higher resolution. To correct this problem, this study employed an iterative technique similar to the image restoration scheme of Point-Jacobian iterative MAP estimation. The effect of pansharpening on image segmentation/classification was assessed for various techniques. The method was applied to the IKONOS image acquired over the area around Anyang City of Korea.

• Korean Journal of Remote Sensing
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• v.32 no.6
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• pp.551-566
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• 2016

In the satellite remote sensing, the operational environment of the satellite sensor causes image degradation during the image acquisition. The degradation results in noise and blurring which badly affect identification and extraction of useful information in image data. Especially, the degradation gives bad influence in the analysis of images collected over the scene with complicate surface structure such as urban area. This study proposes a multi-stage image restoration to improve the accuracy of detailed analysis for the images collected over the complicate scene. The proposed method assumes a Gaussian additive noise, Markov random field of spatial continuity, and blurring proportional to the distance between the pixels. Point-Jacobian Iteration Maximum A Posteriori (PJI-MAP) estimation is employed to restore a degraded image. The multi-stage process includes the image segmentation performing region merging after pixel-linking. A dissimilarity coefficient combining homogeneity and contrast is proposed for image segmentation. In this study, the proposed method was quantitatively evaluated using simulation data and was also applied to the two panchromatic images of super-high resolution: Dubaisat-2 data of 1m resolution from LA, USA and KOMPSAT3 data of 0.7 m resolution from Daejeon in the Korean peninsula. The experimental results imply that it can improve analytical accuracy in the application of remote sensing high resolution panchromatic imagery.

• The Journal of Korea Robotics Society
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• v.2 no.4
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• pp.327-333
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• 2007

We propose a navigation algorithm using image-based visual servoing utilizing a fixed camera. We define the mobile robot navigation problem as an unconstrained optimization problem to minimize the image error between the goal position and the position of a mobile robot. The residual function which is the image error between the position of a mobile robot and the goal position is generally large for this navigation problem. So, this navigation problem can be considered as the nonlinear least squares problem for the large residual case. For large residual, we propose a method to find the second-order term using the secant approximation method. The performance was evaluated using the simulation.

• Journal of Mechanical Science and Technology
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• v.14 no.7
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• pp.782-788
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• 2000

In this paper, we present a new approach to visual feedback control using image-based visual servoing with stereo vision. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only around a desired location but also at other locations. The suggested technique can guide a robot manipulator to the desired location without providing a priori knowledge such as the relative distance to the desired location or the model of an object even when the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by experimental results and compared with conventional control methods for an assembly robot.

• Proceedings of the KSRS Conference
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• 2007.10a
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• pp.270-273
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• 2007

In this paper, a SAR-despeck1ing approach of adaptive iteration based a Bayesian model using the lognormal distribution for image intensity and a Gibbs random field (GRF) for image texture is proposed for noise removal of the images that are corrupted by multiplicative speckle noise. When the image intensity is logarithmically transformed, the speckle noise is approximately Gaussian additive noise, and it tends to a normal probability much faster than the intensity distribution. The MRF is incorporated into digital image analysis by viewing pixel types as states of molecules in a lattice-like physical system. The iterative approach based on MRF is very effective for the inner areas of regions in the observed scene, but may result in yielding false reconstruction around the boundaries due to using wrong information of adjacent regions with different characteristics. The proposed method suggests an adaptive approach using variable parameters depending on the location of reconstructed area, that is, how near to the boundary. The proximity of boundary is estimated by the statistics based on edge value, standard deviation, entropy, and the 4th moment of intensity distribution.

• IEIE Transactions on Smart Processing and Computing
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• v.4 no.4
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• pp.216-223
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• 2015

The autonomous underwater vehicle (AUV) is being widely researched in order to achieve superior performance when working in hazardous environments. This research focuses on using image processing techniques to estimate the AUV's egomotion and the changes in orientation, based on image frames from different time frames captured from a single high-definition web camera attached to the bottom of the AUV. A visual odometry application is integrated with other sensors. An internal measurement unit (IMU) sensor is used to determine a correct set of answers corresponding to a homography motion equation. A pressure sensor is used to resolve image scale ambiguity. Uncertainty estimation is computed to correct drift that occurs in the system by using a Jacobian method, singular value decomposition, and backward and forward error propagation.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.11
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• pp.32-41
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• 1990

This paper proposes a method of using image features in serving a robot manipulator. Specifically, the con-cept 'feature' is first mathematically defined and then differential relationship between the robot motion and feature vector is derived in terms of Feature Jacobian Matrix and its generalized inverse. Also, by using more features than the number of DOFs of the robot, the visual servoing performance is shown to be improv-ed. Via various examples, the method of feature-based servoing of a robot proposed in this paper is proved to be effective for conducting object-oriented robotic tasks.

• Journal of the Korea Institute of Information Security & Cryptology
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• v.29 no.1
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• pp.117-125
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• 2019

Deep Learning, which is being used in various fields recently, is being threatened with Adversarial Attack. In this paper, we experimentally verify that the classification accuracy is lowered by adversarial samples generated by malicious attackers in image classification models. We used MNIST dataset and measured the detection accuracy by injecting adversarial samples into the Autoencoder classification model and the CNN (Convolution neural network) classification model, which are created using the Tensorflow library and the Pytorch library. Adversarial samples were generated by transforming MNIST test dataset with JSMA(Jacobian-based Saliency Map Attack) and FGSM(Fast Gradient Sign Method). When injected into the classification model, detection accuracy decreased by at least 21.82% up to 39.08%.

• The Journal of Engineering Geology
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• v.14 no.1
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• pp.21-28
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• 2004

Three-dimensional (3-D) resistivity inversion including a topographic effect can be considered theoretically to be the technique of acquiring the most accurate image in the interpretation of resistivity data, because it includes characteristic image that the actual subsurface structure is 3-D. In this study, a finite-element method was used as the numerical method in modeling, and the efficiency of Jacobian calculation has been maximized with sensitivity analysis for the destination block in inversion process. Also, during the iterative inversion, the resolution of inversion can be improved with the method of selecting the optimal value of Lagrange multiplier yielding minimum RMS(root mean square) error in the parabolic equation. In this paper, we present synthetic examples to compare the difference between the case which has the toprographic effect and the other case which has not the effect in the inversion process.