• Journal of the Korea Academia-Industrial cooperation Society
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• v.8 no.2
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• pp.267-272
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• 2007

This paper proposes a new approach fur the detection of facial feature regions using the characteristic of DCT(discrete cosine transformation) thatconcentrates the energy of an image into lower frequency coefficients. Since the facial features are pertained to relatively high frequency in a face image, the inverse DCT after removing the DCT's coefficients corresponding to the lower frequencies generates the image where the facial feature regions are emphasized. Thus the facial regions can be easily segmented from the inversed image using any differential operator. In the segmented region, facial features can be found using face template. The proposed algorithm has been tested with the image MIT's CBCL DB and the Yale facedatabase B. The experimental results have shown superior performance under the variations of image size and lighting condition.

• The Journal of Korea Robotics Society
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• v.16 no.4
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• pp.299-305
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• 2021

In this study, the task of robotic tidy-up is to clean the current environment up exactly like a target image. To perform a tidy-up task using a robot, it is necessary to estimate the pose of various objects and to classify the objects. Pose estimation requires the CAD model of an object, but these models of most objects in daily life are not available. Therefore, this study proposes an algorithm that uses point cloud and PCA to estimate the pose of objects without the help of CAD models in cluttered environments. In addition, objects are usually detected using a deep learning-based object detection. However, this method has a limitation in that only the learned objects can be recognized, and it may take a long time to learn. This study proposes an image matching based on few-shot learning and Siamese network. It was shown from experiments that the proposed method can be effectively applied to the robotic tidy-up system, which showed a success rate of 85% in the tidy-up task.

• IEMEK Journal of Embedded Systems and Applications
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• v.19 no.1
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• pp.1-8
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• 2024

Robotic arms have been widely utilized in various labor-intensive industries such as manufacturing, agriculture, and food services, contributing to increasing productivity. In the development of industrial robotic arms, camera sensors have many advantages due to their cost-effectiveness and small sizes. However, estimating object positions is a challenging problem, and it critically affects to the robustness of object manipulation functions. This paper proposes a method for estimating the 3D positions of objects, and it is applied to a pick-and-place task. A deep learning model is utilized to detect 2D bounding boxes in the image plane, and the pinhole camera model is employed to compute the object positions. To improve the robustness of measuring the 3D positions of objects, we analyze the effect of lens distortion and introduce a false positive filtering process. Experiments were conducted on a real-world scenario for moving medicine bottles by using a camera-based manipulator. Experimental results demonstrated that the distortion removal and false positive filtering are effective to improve the position estimation precision and the manipulation success rate.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.4 no.4
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• pp.618-632
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• 2010

This paper presents a novel approach to control the augmented reality (AR) objects robustly in a marker-less AR system by fingertip tracking and hand pattern recognition. It is known that one of the promising ways to develop a marker-less AR system is using human's body such as hand or face for replacing traditional fiducial markers. This paper introduces a real-time method to manipulate the overlaid virtual objects dynamically in a marker-less AR system using both hands with a single camera. The left bare hand is considered as a virtual marker in the marker-less AR system and the right hand is used as a hand mouse. To build the marker-less system, we utilize a skin-color model for hand shape detection and curvature-based fingertip detection from an input video image. Using the detected fingertips the camera pose are estimated to overlay virtual objects on the hand coordinate system. In order to manipulate the virtual objects rendered on the marker-less AR system dynamically, a vision-based hand control interface, which exploits the fingertip tracking for the movement of the objects and pattern matching for the hand command initiation, is developed. From the experiments, we can prove that the proposed and developed system can control the objects dynamically in a convenient fashion.

• Journal of Advanced Navigation Technology
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• v.13 no.3
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• pp.459-465
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• 2009

Digital watermarking is a technique to insert a visually imperceptible information into an image so that the information can be extracted for the purposes of ownership verification or authentication. And watermarking techniques can be classified as either fragile or robust. Robust watermarks are useful for copyright and ownership assertion purposes. They cannot be easily removed and should resist common image manipulation procedures such as rotation, scaling, cropping, etc. On the other hand, fragile watermarks are easily corrupted by any image processing procedure, it can detect any change to an image as well as localizing the areas that have been changed. In this paper, we propose a fragile watermarking algorithm using a special hierarchical structure for integrity verification of image and detection of manipulated location. In the proposed method, the image to be watermarked is divided into blocks in a multi-level hierarchy and calculating block digital signatures in this hierarchy. The proposed method thwarts the cut-and-paste attack and the experimental results to demonstrate the effectiveness of the proposed method.

• Journal of the Korea Society of Computer and Information
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• v.12 no.6
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• pp.69-76
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• 2007

The main stream of presentation is interrupted because of the direct manipulation of their PC frequently so as to control the screen and file open and so on. A variety of products have been developed to solve these inconveniences of the conventional laser beam pointer [LBP] by simply adding a mouse function to the previous LBP. However. the LBPs fully supporting a mouse function are not yet appeared. In this paper. we developed the LBP fully fulfilling a mouse function using mono-camera as well as a robust image processing and analyzed the position detection accuracy. Finally we verified the developed LBP does not only fulfill a mouse function but also solve the defects of the current laser pointer such as inconvenient installation and Position detection errors due to the illumination and viewing direction changes.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.9
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• pp.4467-4486
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• 2018

Trying to deal with the problem of low robustness of Copy-Move Forgery Detection (CMFD) under various transformation and degradation attacks, a novel CMFD method is proposed in this paper. The main advantages of proposed work include: (1) Discrete Analytical Fourier-Mellin Transform (DAFMT) and Locality Sensitive Hashing (LSH) are combined to extract the block features and detect the potential copy-move pairs; (2) The Euclidian distance is incorporated in the pixel variance to filter out the false potential copy-move pairs in the post-verification step. In addition to extracting the effective features of an image block, the DAMFT has the properties of rotation and scale invariance. Unlike the traditional lexicographic sorting method, LSH is robust to the degradations of Gaussian noise and JEPG compression. Because most of the false copy-move pairs locate closely to each other in the spatial domain or are in the homogeneous regions, the Euclidian distance and pixel variance are employed in the post-verification step. After evaluating the proposed method by the precision-recall-$F_1$ model quantitatively based on the Image Manipulation Dataset (IMD) and Copy-Move Hard Dataset (CMHD), our method outperforms Emam et al.'s and Li et al.'s works in the recall and $F_1$ aspects.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.3C
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• pp.398-407
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• 2004

In this paper, a blind watermarking method which is suitable to the video compression using 2-D discrete wavelet transform was proposed and implemented into the hardware using VHDL(VHSIC Hardware Description Language). The goal of the proposed watermarking algorithm is the authentication about the manipulation of the watermark embedded image and the detection of the error positions. Considering the compressed video image, the proposed watermarking scheme is unrelated to the quantization and is able to concurrently embed or extract the watermark. We experimentally verified that the lowest frequency subband(LL4) is not sensitive to the change in the spatial domain, so LL4 subband was selected for the mark space. And the combination of the bitplanes which has the properties of both the minimum degradation of the image and the robustness was chosen as the embedded Point in the mark space in LL4 subband. Since we know the watermark embedded positions and the watermark is embedded by not varying the value but changing the value, the watermark can be extracted without the original image. Also, for the security when exposing the watermark embedded position, we embed the encrypted watermark by the block cipher. The proposed watermark algorithm shows the robustness against the general image manipulation and is easily transplanted into the image or video compressor with the minimal changing in the structure. The designed hardware has 4037 LABs(24％) and 85 ESBs(3％) in APEX20KC EP20K400CF672C7 FPGA of Altera and stably operates in 82MHz clock frequency.

• International Journal of Computer Science & Network Security
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• v.21 no.1
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• pp.143-151
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• 2021

The enormous prevalence of transferring official confidential digital documents via the Internet shows the urgent need to deliver confidential messages to the recipient without letting any unauthorized person to know contents of the secret messages or detect there existence . Several Steganography techniques such as the least significant Bit (LSB), Secure Cover Selection (SCS), Discrete Cosine Transform (DCT) and Palette Based (PB) were applied to prevent any intruder from analyzing and getting the secret transferred message. The utilized steganography methods should defiance the challenges of Steganalysis techniques in term of analysis and detection. This paper presents a novel and robust framework for color image steganography that combines Linear Congruential Generator (LCG), simulated annealing (SA), Cesar cryptography and LSB substitution method in one system in order to reduce the objection of Steganalysis and deliver data securely to their destination. SA with the support of LCG finds out the optimal minimum sniffing path inside a cover color image (RGB) then the confidential message will be encrypt and embedded within the RGB image path as a host medium by using Cesar and LSB procedures. Embedding and extraction processes of secret message require a common knowledge between sender and receiver; that knowledge are represented by SA initialization parameters, LCG seed, Cesar key agreement and secret message length. Steganalysis intruder will not understand or detect the secret message inside the host image without the correct knowledge about the manipulation process. The constructed system satisfies the main requirements of image steganography in term of robustness against confidential message extraction, high quality visual appearance, little mean square error (MSE) and high peak signal noise ratio (PSNR).

• Journal of Biomedical Engineering Research
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• v.14 no.3
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• pp.235-242
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• 1993

In the early stage of sacroilitis, it is'difficult to detect sacroiliac(Sl) abnormalities by conventional plain X-ray even though there are characteristic symptoms of ankylosing spondylitis. 3 dimensional volume rendering from the CT image was performed to make an early de tection of the structural changes of Sl joint. 2 cases who had clinical impression of ankylosing spondylitis without sacroilitis in plane X-ray and 1 case of typical ankylosing spondylitis as well as 1 case of normal control were studied. The Sl Joints were separated and each joint surface of sacrum and ilium was independently reconstructed by a special 3D manipulation program. All 2 patiant who complained of inflammatory lower back pain with no abnormal findings in the plain X-ray showed structural changes in 3 dimensionally reconstructed surface Image of the Sl joint compared to the normal control. Authors tried several parameters, such as fourler analysis of each surface and the mean and variance of Sl joint gap. We couldn't tell the statistical significance because of the limited number of cases. However, the parameters showed difference according to the progression of disease.