• Journal of the Korean Society for Aviation and Aeronautics
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• v.19 no.4
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• pp.44-50
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• 2011

This paper presents the algorithm for attitude determination of an aircraft using binary image. An image feature vector, which is invariant to translation, scale and rotation, is constructed to capture the functional relations between the feature vector and the corresponding aircraft attitude. An iterated least squares method is suggested for estimating the attitude of given aircraft using the constructed feature vector library. Simulation results show that the proposed algorithm yields good estimates of aircraft attitude in most viewing range, although a relatively large error occurs in some limited viewing direction.

• Journal of KIISE:Software and Applications
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• v.30 no.3_4
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• pp.251-258
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• 2003

A support vector machine (SVM) is supposed to provide a good generalization performance, but the actual performance of a actually implemented SVM is often far from the theoretically expected level. This is largely because the implementation is based on an approximated algorithm, due to the high complexity of time and space. To improve this limitation, we propose ensemble of SVMs by using Bagging (bootstrap aggregating) and Boosting. By a Bagging stage each individual SVM is trained independently using randomly chosen training samples via a bootstrap technique. By a Boosting stage an individual SVM is trained by choosing training samples according to their probability distribution. The probability distribution is updated by the error of independent classifiers, and the process is iterated. After the training stage, they are aggregated to make a collective decision in several ways, such ai majority voting, the LSE(least squares estimation) -based weighting, and double layer hierarchical combining. The simulation results for IRIS data classification, the hand-written digit recognition and Face detection show that the proposed SVM ensembles greatly outperforms a single SVM in terms of classification accuracy.

• Journal of Broadcast Engineering
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• v.1 no.2
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• pp.176-187
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• 1996

This paper deals with the accurate estimation of 3- D pose (position and orientation) of a moving object with reference to the world frame (or robot base frame), based on a sequence of stereo images taken by cameras mounted on the end - effector of a robot manipulator. This work is an extension of the previous work[1]. Emphasis is given to the 3-D pose estimation relative to the world (or robot base) frame under the presence of not only the measurement noise in 2 - D images[ 1] but also the camera position errors due to the random noise involved in joint angles of a robot manipulator. To this end, a new set of discrete linear Kalman filter equations is derived, based on the following: 1) the orientation error of the object frame due to measurement noise in 2 - D images is modeled with reference to the camera frame by analyzing the noise propagation through 3- D reconstruction; 2) an extended Jacobian matrix is formulated by combining the result of 1) and the orientation error of the end-effector frame due to joint angle errors through robot differential kinematics; and 3) the rotational motion of an object, which is nonlinear in nature, is linearized based on quaternions. Motion parameters are computed from the estimated quaternions based on the iterated least-squares method. Simulation results show the significant reduction of estimation errors and also demonstrate an accurate convergence of the actual motion parameters to the true values.