• Journal of the Institute of Convergence Signal Processing
• /
• v.14 no.1
• /
• pp.13-20
• /
• 2013

A combined DWT and DCT based watermarking technique of low frequency watermarking with weighted correction is proposed. The DWT has excellent spatial localization, frequency spread and multi-resolution characteristics, which are similar to the theoretical models of the human visual system (HVS). The DCT based watermarking techniques offer compression while DWT based watermarking techniques offer scalability. These desirable properties are used in this combined watermarking technique. In the proposed method watermark bits are embedded in the low frequency band of each DCT block of selected DWT sub-band. The weighted correction is also used to improve the imperceptibility. The extracting procedure reverses the embedding operations without the reference of the original image. Compared with the similar approach by DCT based approach and DWT based approach, the experimental results show that the proposed algorithm apparently preserves superiori mage quality and robustness under various attacks such as JPEG compression, cropping, sharping, contrast adjustments and so on.

• The Journal of Korea Robotics Society
• /
• v.18 no.3
• /
• pp.330-336
• /
• 2023

In this paper, a novel line-based simultaneous localization and mapping (SLAM) using a loss function of vanishing point measurements is proposed. In general, the Huber norm is used as a loss function for point and line features in feature-based SLAM. The proposed loss function of vanishing point measurements is based on the unit sphere model. Because the point and line feature measurements define the reprojection error in the image plane as a residual, linear loss functions such as the Huber norm is used. However, the typical loss functions are not suitable for vanishing point measurements with unbounded problems. To tackle this problem, we propose a loss function for vanishing point measurements. The proposed loss function is based on unit sphere model. Finally, we prove the validity of the loss function for vanishing point through experiments on a public dataset.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.1
• /
• pp.40-47
• /
• 2010

This paper presents a simultaneous localization and mapping (SLAM) of an indoor hallway environment using Rao-Blackwellized particle filter (RBPF) along with a line segment as a landmark. Based on the fact that fluent line features can be extracted around the ceiling and side walls of hallway using vision sensor, a horizontal line segment is extracted from an edge image using Hough transform and is also tracked continuously by an optical flow method. A successive observation of a line segment gives initial state of the line in 3D space. For data association, registered feature and observed feature are matched in image space through a degree of overlap, an orientation of line, and a distance between two lines. Experiments show that a compact environmental map can be constructed with small number of horizontal line features in real-time.

• Journal of Multimedia Information System
• /
• v.8 no.1
• /
• pp.23-30
• /
• 2021

Palmprint has become a popular biometric modality; however, palmprint recognition has not been conducted in video media. Video palmprint recognition (VPR) has some advantages that are absent in image palmprint recognition. In VPR, the registration and recognition can be automatically implemented without users' manual manipulation. A good-quality image can be selected from the video frames or generated from the fusion of multiple video frames. VPR in contactless mode overcomes several problems caused by contact mode; however, contactless mode, especially mobile mode, encounters with several revere challenges. Double-line-single-point (DLSP) assisted placement technique can overcome the challenges as well as effectively reduce the localization error and computation complexity. This paper modifies DLSP technique to reduce the invalid area in the frames. In addition, the valid frames, in which users place their hands correctly, are selected according to finger gap judgement, and then some key frames, which have good quality, are selected from the valid frames as the gallery samples that are matched with the query samples for authentication decision. The VPR algorithm is conducted on the system designed and developed on mobile device.

• Journal of Internet Computing and Services
• /
• v.21 no.3
• /
• pp.113-121
• /
• 2020

Human Pose Estimation (HPE) which localizes the human body joints becomes a high potential for high-level applications in the field of computer vision. The main challenges of HPE in real-time are occlusion, illumination change and diversity of pose appearance. The single RGB image is fed into HPE framework in order to reduce the computation cost by using depth-independent device such as a common camera, webcam, or phone cam. However, HPE based on the single RGB is not able to solve the above challenges due to inherent characteristics of color or texture. On the other hand, depth information which is fed into HPE framework and detects the human body parts in 3D coordinates can be usefully used to solve the above challenges. However, the depth information-based HPE requires the depth-dependent device which has space constraint and is cost consuming. Especially, the result of depth information-based HPE is less reliable due to the requirement of pose initialization and less stabilization of frame tracking. Therefore, this paper proposes a new method of HPE which is robust in estimating self-occlusion. There are many human parts which can be occluded by other body parts. However, this paper focuses only on head self-occlusion. The new method is a combination of the RGB image-based HPE framework and the depth information-based HPE framework. We evaluated the performance of the proposed method by COCO Object Keypoint Similarity library. By taking an advantage of RGB image-based HPE method and depth information-based HPE method, our HPE method based on RGB-D achieved the mAP of 0.903 and mAR of 0.938. It proved that our method outperforms the RGB-based HPE and the depth-based HPE.

• Korean Institute of Interior Design Journal
• /
• v.16 no.2 s.61
• /
• pp.331-338
• /
• 2007

In the aspects of the globalization and localization, it is crucial to determine 'Urban selling point', which explains how to make an image: in order to acquire city identity based on the cultural and historical understanding for the Positive city image. The Purpose of this study is to investigate the possible role of the public space as a tool of the city marketing strategy, as well as to realize the cultural city identity through the design of the public space by studying cases which promote the value of life for both of the city and the citizens. Two methodologies are utilized for this study; First, he value in realizing cultural identity is examined through the city identity related to the city marketing and theoretical review of city amenity; second, the several domestic and international cases of cultural planning in culture-accumulated public space are selected and analyzed to map out new strategies from the perspective of place strategy, cultural strategy, and marketing strategy. The results from this study are as follows; first, the culture-accumulated public space through the formation of culture has its own characterized meaning, which has the significant value for the city representative image; second, when planning the culture-accumulated public space, it is important to select not only the appropriate image strategy but the adequate type of the public space for the city planning.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.17 no.9
• /
• pp.2458-2482
• /
• 2023

Medical image segmentation techniques based on convolution neural networks indulge in feature extraction triggering redundancy of parameters and unsatisfactory target localization, which outcomes in less accurate segmentation results to assist doctors in diagnosis. In this paper, we propose a multi-level semantic-rich encoding-decoding network, which consists of a Pooling-Conv-Former (PCFormer) module and a Cbam-Dilated-Transformer (CDT) module. In the PCFormer module, it is used to tackle the issue of parameter explosion in the conservative transformer and to compensate for the feature loss in the down-sampling process. In the CDT module, the Cbam attention module is adopted to highlight the feature regions by blending the intersection of attention mechanisms implicitly, and the Dilated convolution-Concat (DCC) module is designed as a parallel concatenation of multiple atrous convolution blocks to display the expanded perceptual field explicitly. In addition, MultiHead Attention-DwConv-Transformer (MDTransformer) module is utilized to evidently distinguish the target region from the background region. Extensive experiments on medical image segmentation from Glas, SIIM-ACR, ISIC and LGG demonstrated that our proposed network outperforms existing advanced methods in terms of both objective evaluation and subjective visual performance.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.12
• /
• pp.1223-1231
• /
• 2009

We derive a systematic and iterative calibration algorithm, and position and pose estimation algorithm for the mobile robots in formation system based on the vision system. In addition, we develop a coordinate matching algorithm which calculates matched sequence of order in both extracted image coordinates and object coordinates for non interactive calibration and pose estimation. Based on the results of calibration, we also develop a camera simulator to confirm the results of calibration and compare the results of simulations with those of experiments in position and pose estimation.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.20 no.1
• /
• pp.60-65
• /
• 2010

This paper describes the results of 2D mapping, feature detection and matching to create the surrounding environment in the mounted stereo camera on Mobile robot. Extract method of image's feature in real-time processing for quick operation uses the edge detection and Sum of Absolute Difference(SAD), stereo matching technique can be obtained through the correlation coefficient. To estimate the location of a mobile robot using ZigBee beacon and encoders mounted on the robot is estimated by Kalman filter. In addition, the merged gyro scope to measure compass is possible to generate map during mobile robot is moving. The Simultaneous Localization and Mapping (SLAM) of mobile robot technology with an intelligent robot can be applied efficiently in human life would be based.

• Journal of Gastric Cancer
• /
• v.10 no.4
• /
• pp.188-195
• /
• 2010

Purpose: This study was done to evaluate the usefulness of preoperative computed tomography (CT) and intraoperative laparoscopic ultrasound to facilitate treatment of gastric submucosal tumors. Materials and Methods: The feasibility of laparoscopic wedge resection as determined by CT findings of tumor size, location, and growth pattern was correlated with surgical findings in 89 consecutive operations. The role of laparoscopic ultrasound for tumor localization was analyzed. Results: Twenty-three patients were considered unsuitable for laparoscopic wedge resection because of large tumor size (N=13) or involvement of the gastroesophageal junction (N=9) or pyloric channel (N=1). Laparoscopic wedge resection was not attempted in 11 of these patients because of large tumor size. Laparoscopic wedge resection was successfully performed in 65 of 66 (98.5%) patients considered suitable for this procedure. Incorrect interpretation of preoperative CT resulted in a change of surgery type in seven patients (7.9%): incorrect CT diagnosis on gastroesophageal junction involvement (N=6) and on growth pattern (N=1). In 18 patients without an exophytic growth pattern, laparoscopic ultrasound was necessary and successfully localized all lesions. Conclusions: Preoperative CT and laparoscopic ultrasound are useful for surgical planning and tumor localization in laparoscopic wedge resection.