• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.517-519
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• 2004

This paper describes an approach to estimate a robot pose with an image. The algorithm of pose estimation with an image can be broken down into three stages : extracting scale-invariant features, matching these features and calculating affine invariant. In the first step, the robot mounted mono camera captures environment image. Then feature extraction is executed in a captured image. These extracted features are recorded in a database. In the matching stage, a Random Sample Consensus(RANSAC) method is employed to match these features. After matching these features, the robot pose is estimated with positions of features by calculating affine invariant. This algorithm is implemented and demonstrated by Matlab program.

• International Journal of Control, Automation, and Systems
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• 제6권6호
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• pp.800-808
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• 2008

A fingerprint verification system based on a set of invariant moment features and a nonlinear Back Propagation Neural Network(BPNN) verifier is proposed. An image-based method with invariant moment features for fingerprint verification is used to overcome the demerits of traditional minutiae-based methods and other image-based methods. The proposed system contains two stages: an off-line stage for template processing and an on-line stage for testing with input fingerprints. The system preprocesses fingerprints and reliably detects a unique reference point to determine a Region-of-Interest(ROI). A total of four sets of seven invariant moment features are extracted from four partitioned sub-images of an ROI. Matching between the feature vectors of a test fingerprint and those of a template fingerprint in the database is evaluated by a nonlinear BPNN and its performance is compared with other methods in terms of absolute distance as a similarity measure. The experimental results show that the proposed method with BPNN matching has a higher matching accuracy, while the method with absolute distance has a faster matching speed. Comparison results with other famous methods also show that the proposed method outperforms them in verification accuracy.

• 한국군사과학기술학회지
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• 제3권2호
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• pp.88-100
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• 2000

The design of an automatic aircraft recognition system involves two parts. The first part is extraction of invariant features independent of scale, rotation and translation. The second part is determination of optimal decision procedures, which are needed in the classification process. In this research, we extracted invariant aircraft features regardless of size, rotation and translation using Fourier Descriptors and Zernike Moments and classified using neural networks.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제9권3호
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• pp.1155-1172
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• 2015

In this paper, we propose a novel saliency detection framework based on illumination invariant features to improve the accuracy of the saliency detection under the different light conditions. The proposed algorithm is divided into three steps. First, we extract the illuminant invariant features to reduce the effect of the illumination based on the local sensitive histograms. Second, a preliminary saliency map is obtained in the CIE Lab color space. Last, we use the region growing method to fuse the illuminant invariant features and the preliminary saliency map into a new framework. In addition, we integrate the information of spatial distinctness since the saliency objects are usually compact. The experiments on the benchmark dataset show that the proposed saliency detection framework outperforms the state-of-the-art algorithms in terms of different illuminants in the images.

• 한국항행학회논문지
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• 제13권1호
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• pp.126-133
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• 2009

본 논문에서는 마커 없이 증강 현실을 구현하기 위한 물체 인식 기법을 제안한다. 먼저 SIFT(Scale Invariant Feature Transform)알고리즘을 사용하여 물체 영상으로부터 특징점을 찾는데, 이러한 특징점들은 비율, 회전 또는 이동시에도 그 특징이 변하지 않는 장점이 있다. 또한 조도의 변화에도 일부는 변화지 않는 특성을 갖는다. 추출된 특징점의 독립적인 특성을 이용해 화면내의 다른 이미지의 매칭 포인트를 찾을 수 있는데, 학습된 영상과 매칭이 이루어지면, 매칭된 점을 이용해 화면내의 물체를 찾는다. 본 논문에서는 장면의 첫 프레임에서 발생하는 템플릿 이미지와의 매칭을 통해 현재의 화면에서 물체를 인식하였다. 네 종류의 물체에 대해 인식 실험을 한 결과 제안한 방법이 우수한 성능을 갖는 것을 확인하였다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 제13회 신호처리 합동 학술대회 논문집
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• pp.901-904
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• 2000

A direct authentication from gray-scale image, instead of the conventional multi-step preprocessing, is proposed using Gabor filter-based features from the gray-scale fingerprint around core point. The core point is located as a reference point for the translation invariant matching. And its principal symmetry axis is detected for the rotation invariant matching from its neighboring region centered at the core point. And then fingerprint is divided into non-overlapping blocks with respect to the core point and features are directly extracted form the blocked gray level fingerprint using Gabor filter. The proposed fingerprint authentication is based on the Euclidean distance between the corresponding Gabor features of the input and the template fingerprints. Experiments are conducted on 300${\times}$300 fingerprints obtained from a CMOS sensor with 500 dpi resolution, and the proposed method could lower the False Reject Rate(FRR) to 18.2% under False Acceptance Rate(FAR) of 0%.

• 대한전기학회논문지:시스템및제어부문D
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• 제55권4호
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• pp.173-180
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• 2006

A key component of autonomous navigation of intelligent home robot is localization and map building with recognized features from the environment. To validate this, accurate measurement of relative location between robot and features is essential. In this paper, we proposed relative localization algorithm based on 3D reconstruction of scale invariant features of two images which are captured from two parallel cameras. We captured two images from parallel cameras which are attached in front of robot and detect scale invariant features in each image using SIFT(scale invariant feature transform). Then, we performed matching for the two image's feature points and got the relative location using 3D reconstruction for the matched points. Stereo camera needs high precision of two camera's extrinsic and matching pixels in two camera image. Because we used two cameras which are different from stereo camera and scale invariant feature point and it's easy to setup the extrinsic parameter. Furthermore, 3D reconstruction does not need any other sensor. And the results can be simultaneously used by obstacle avoidance, map building and localization. We set 20cm the distance between two camera and capture the 3frames per second. The experimental results show :t6cm maximum error in the range of less than 2m and ${\pm}15cm$ maximum error in the range of between 2m and 4m.

• International Journal of Control, Automation, and Systems
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• 제1권3호
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• pp.332-338
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• 2003

Content-based image retrieval is the research of images from database, that are visually similar to given image examples. Gabor functions and Gabor filters are regarded as excellent methods for feature extraction and texture segmentation. However, they have a disadvantage not to perform well in case of a rotated image because of its direction-oriented filter. This paper proposes a method of extracting local texture features from blocks with central interest points detected in an image and a rotation invariant Gabor wavelet filter. We also propose a method of comparing pattern histograms of features classified by VQ (Vector Quantization) among images.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제5권4호
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• pp.297-301
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• 2005

In this paper, we propose a method to estimate camera motion parameter based on invariant point features. Typically, feature information of image has drawbacks, it is variable to camera viewpoint, and therefore information quantity increases after time. The LM(Levenberg-Marquardt) method using nonlinear minimum square evaluation for camera extrinsic parameter estimation also has a weak point, which has different iteration number for approaching the minimal point according to the initial values and convergence time increases if the process run into a local minimum. In order to complement these shortfalls, we, first propose constructing feature models using invariant vector of geometry. Secondly, we propose a two-stage calculation method to improve accuracy and convergence by using homography and LM method. In the experiment, we compare and analyze the proposed method with existing method to demonstrate the superiority of the proposed algorithms.

• 한국시뮬레이션학회논문지
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• 제19권4호
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• pp.111-122
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• 2010

본 연구에서는 여러 제조 공정에서 발생하는 주기 신호의 불규칙한 길이를 보정하기 위하여 시불변 특징점 추출 및 정합(Time Invariant Feature point Extraction and Matching, 이하 TIFEM)을 이용한 길이보정 알고리즘을 제안한다. 신호 중간에 길이 변동이 발생 하는 주기신호의 경우 정확하게 길이를 보정하기 위해서는 더 많은 수의 특징점이 필요하며, 추출된 특징점은 신호의 패턴 정보를 포함하고 시간과 크기에 불변한 성질을 가져야 한다. 본 연구에서 제안하는 TIFEM알고리즘은 위의 성질을 가지는 신호 고유의 특성을 추출하고 추출한 특성들을 각각 시점에 해당하는 특성 벡터로 구성한다. 구성된 특성 벡터에서 유효한 벡터만을 걸러내어 길이보정을 위한 특징점으로 선정한다. 선정된 특징점들을 정합한 후 구간별로 길이를 보정하여 보다 정확한 주기 신호의 길이보정을 수행한다. 제안한 알고리즘의 성능을 검증하기 위하여 실제 반도체 공정에서 발생되는 3종류의 신호를 모방하여 생성한 실험데이터를 이용하여 실험을 수행하였다.