• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.11 no.1
• /
• pp.150-156
• /
• 2007

Noise is generated by several causes, when signal is processed. Hence, it generates error in the process of data transmission and decreases recognition ratio of image and speech data. Therefore, after eliminating those noises, a variety of methods for reconstructing the signal have been researched. Recently, wavelet transform which has time-frequency localization and is possible for multiresolution analysis is applied to many fields of technology. Then threshold-and correlation-based methods are proposed for removing noise. But, conventional methods accept a lot of noise as an edge and are impossible to remove the additive white Gaussian noise (AWGN) and the impulse noise at the same time. Therefore, in this paper we proposed new wavelet-based algorithm for reconstructing degraded signal by noise and compared it with conventional methods.

• The Journal of Korea Robotics Society
• /
• v.18 no.1
• /
• pp.66-71
• /
• 2023

As cameras have become primary sensors for mobile robots, vision based Simultaneous Localization and Mapping (SLAM) has achieved impressive results with the recent development of computer vision and deep learning. However, vision information has a disadvantage in that a lot of information disappears in a low-light environment. To overcome the problem, we propose an image enhancement method to perform visual SLAM in a low-light environment. Using the deep generative adversarial models and modified gamma correction, the quality of low-light images were improved. The proposed method is less sharp than the existing method, but it can be applied to ORB-SLAM in real time by dramatically reducing the amount of computation. The experimental results were able to prove the validity of the proposed method by applying to public Dataset TUM and VIVID++.

• Journal of Information Processing Systems
• /
• v.15 no.1
• /
• pp.169-180
• /
• 2019

Transmitting visual information over a broadcasting network is not only prone to a copyright violation but also is a forgery. Authenticating such information and protecting its authorship rights call for more advanced data encoding. To this end, electronic watermarking is often adopted to embed inscriptive signature in imaging data. Most existing watermarking methods while focusing on robustness against degradation remain lacking of measurement against security loophole in which the encrypting scheme once discovered may be recreated by an unauthorized party. This could reveal the underlying signature which may potentially be replaced or forged. This paper therefore proposes a novel digital watermarking scheme in temporal-frequency domain. Unlike other typical wavelet based watermarking, the proposed scheme employed the Lorenz chaotic map to specify embedding positions. Effectively making this is not only a formidable method to decrypt but also a stronger will against deterministic attacks. Simulation report herein highlights its strength to withstand spatial and frequent adulterations, e.g., lossy compression, filtering, zooming and noise.

• Ocean Systems Engineering
• /
• v.10 no.4
• /
• pp.435-449
• /
• 2020

This paper proposes a method to estimate the underwater target object's yaw angle using a sonar image. A simulator modeling imaging mechanism of a sonar sensor and a generative adversarial network for style transfer generates realistic template images of the target object by predicting shapes according to the viewing angles. Then, the target object's yaw angle can be estimated by comparing the template images and a shape taken in real sonar images. We verified the proposed method by conducting water tank experiments. The proposed method was also applied to AUV in field experiments. The proposed method, which provides bearing information between underwater objects and the sonar sensor, can be applied to algorithms such as underwater localization or multi-view-based underwater object recognition.

• Journal of Information Processing Systems
• /
• v.13 no.2
• /
• pp.385-399
• /
• 2017

Nowadays, with the development of signal processing technique, the protection to the integrity and authenticity of images has become a topic of great concern. A blind image authentication technology with high tamper detection accuracy for different common attacks is urgently needed. In this paper, an improved fragile watermarking method based on local binary pattern (LBP) is presented for blind tamper location in images. In this method, a binary watermark is generated by LBP operator which is often utilized in face identification and texture analysis. In order to guarantee the safety of the proposed algorithm, Arnold transform and logistic map are used to scramble the authentication watermark. Then, the least significant bits (LSBs) of original pixels are substituted by the encrypted watermark. Since the authentication data is constructed from the image itself, no original image is needed in tamper detection. The LBP map of watermarked image is compared to the extracted authentication data to determine whether it is tampered or not. In comparison with other state-of-the-art schemes, various experiments prove that the proposed algorithm achieves better performance in forgery detection and location for baleful attacks.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.12
• /
• pp.1226-1232
• /
• 2010

A door can serve as a feature for place classification and localization for navigation of a mobile robot in indoor environments. This paper proposes a door detection method based on the recognition of various door handles using the general Hough transform (GHT) and support vector machine (SVM). The contour and color histogram of a door handle extracted from the database are used in GHT and SVM, respectively. The door recognition scheme consists of four steps. The first step determines the region of interest (ROI) images defined by the color information and the environment around the door handle for stable recognition. In the second step, the door handle is recognized using the GHT method from the ROI image and the image patches are extracted from the position of the recognized door handle. In the third step, the extracted patch is classified whether it is the image patch of a door handle or not using the SVM classifier. The door position is probabilistically determined by the recognized door handle. Experimental results show that the proposed method can recognize various door handles and detect doors in a robust manner.

• The Journal of the Korea Contents Association
• /
• v.20 no.7
• /
• pp.86-96
• /
• 2020

Based on the use cases of image recognition technology, this study looked at how artificial intelligence plays a role in image recognition technology. Through image recognition technology, satellite images can be analyzed with artificial intelligence to reveal the calculation of oil storage tanks in certain countries. And image recognition technology makes it possible for searching images or products similar to images taken or downloaded by users, as well as arranging fruit yields, or detecting plant diseases. Based on deep learning and neural network algorithms, we can recognize people's age, gender, and mood, confirming that image recognition technology is being applied in various industries. In this study, we can look at the use cases of domestic and overseas image recognition technology, as well as see which methods are being applied to the industry. In addition, through this study, the direction of future research was presented, focusing on various successful cases in which image recognition technology was implemented and applied in various industries. At the conclusion, it can be considered that the direction in which domestic image recognition technology should move forward in the future.

• ETRI Journal
• /
• v.43 no.4
• /
• pp.603-616
• /
• 2021

Over the last few years, autonomous vehicles have progressed very rapidly. The odometry technique that estimates displacement from consecutive sensor inputs is an essential technique for autonomous driving. In this article, we propose a fast, robust, and accurate odometry technique. The proposed technique is light detection and ranging (LiDAR)-based direct odometry, which uses a spherical range image (SRI) that projects a three-dimensional point cloud onto a two-dimensional spherical image plane. Direct odometry is developed in a vision-based method, and a fast execution speed can be expected. However, applying LiDAR data is difficult because of the sparsity. To solve this problem, we propose an SRI generation method and mathematical analysis, two key point sampling methods using SRI to increase precision and robustness, and a fast optimization method. The proposed technique was tested with the KITTI dataset and real environments. Evaluation results yielded a translation error of 0.69%, a rotation error of 0.0031°/m in the KITTI training dataset, and an execution time of 17 ms. The results demonstrated high precision comparable with state-of-the-art and remarkably higher speed than conventional techniques.

• Journal of the Institute of Electronics Engineers of Korea SD
• /
• v.45 no.6
• /
• pp.49-59
• /
• 2008

SIFT(Scale Invariant Feature Transform) is an algorithm to extract vectors at pixels around keypoints, in which the pixel colors are very different from neighbors, such as vortices and edges of an object. The SIFT algorithm is being actively researched for various image processing applications including 3-D image constructions, and its most computation-intensive stage is a keypoint localization. In this paper, we develope a fixed-point model of the keypoint localization and propose its efficient hardware architecture for embedded applications. The bit-length of key variables are determined based on two performance measures: localization accuracy and error rate. Comparing with the original algorithm (implemented in Matlab), the accuracy and error rate of the proposed fixed point model are 93.57% and 2.72% respectively. In addition, we found that most of missing keypoints appeared at the edges of an object which are not very important in the case of keypoints matching. We estimate that the hardware implementation will give processing speed of $10{\sim}15\;frame/sec$, while its fixed point implementation on Pentium Core2Duo (2.13 GHz) and ARM9 (400 MHz) takes 10 seconds and one hour each to process a frame.

• Journal of Radiation Protection and Research
• /
• v.20 no.1
• /
• pp.25-36
• /
• 1995

The purpose of this research is to develop stereotactic localization and radiation measurement system for the efficient and precise radiosurgery. The algorithm to obtain a 3-D stereotactic coordinates of the target has been developed using a Fisher CT or angio localization. The procedure of stereotactic localization was programmed with PC computer, and consists of three steps: (1) transferring patient images into PC; (2) marking the position of target and reference points of the localizer from the patient image; (3) computing the stereotactic 3-D coordinates of target associated with position information of localizer. Coordinate transformation was quickly done on a real time base. The difference of coordinates computed from between Angio and CT localization method was within 2 mm, which could be generally accepted for the reliability of the localization system developed. We measured dose distribution in small fields of NEC 6 MVX linear accelerator using various detector; ion chamber, film, diode. Specific quantities measured include output factor, percent depth dose (PDD), tissue maximum ratio (TMR), off-axis ratio (OAR). There was small variation of measured data according to the different kinds of detectors used. The overall trends of measured beam data were similar enough to rely on our measurement. The measurement was performed with the use of hand-made spherical water phantom and film for standard arc set-up. We obtained the dose distribution as we expected. In conclusion, PC-based 3-D stereotactic localization system was developed to determine the stereotactic coordinate of the target. A convenient technique for the small field measurement was demonstrated. Those methods will be much helpful for the stereotactic radiosurgery.