• Title/Summary/Keyword: Landmark information

Search Result 172, Processing Time 0.026 seconds

Blind Detouring Problem in Geographic Routing for Wireless Ad-hoc Networks (무선 애드-혹 망을 위한 위치기반 라우팅에서의 맹목적 우회경로 결정문제)

  • Na, Jong-Keun;Kim, Chong-Kwon
    • Journal of KIISE:Information Networking
    • /
    • v.33 no.6
    • /
    • pp.428-437
    • /
    • 2006
  • Wireless ad-hoc routing has been extensively studied and many clever schemes have been proposed over the last several years. One class of ad-hoc routing is geographic routing where each intermediate node independently selects the next hop using the given location information of destination. Geographic routing, which eliminates the overhead of route request packet flooding, is scalable and suitable for large scale ad hoc networks. However, geographic routing may select the long detour paths when there are voids between a source and a destination. In this paper, we propose a novel geographic routing approach called Geographic Landmark Routing(GLR). GLR recursively discovers the intermediate nodes called landmarks and constructs sub-paths that connect the subsequent landmarks. Simulation results on various network topologies show that GLR significantly improves the performance of geographic routing.

A Framework of Recognition and Tracking for Underwater Objects based on Sonar Images : Part 1. Design and Recognition of Artificial Landmark considering Characteristics of Sonar Images (소나 영상 기반의 수중 물체 인식과 추종을 위한 구조 : Part 1. 소나 영상의 특성을 고려한 인공 표식물 설계 및 인식)

  • Lee, Yeongjun;Lee, Jihong;Choi, Hyun-Taek
    • Journal of the Institute of Electronics and Information Engineers
    • /
    • v.51 no.2
    • /
    • pp.182-189
    • /
    • 2014
  • This paper proposed a framework of recognition and tracking for underwater objects using sonar images as an alternative of underwater optical camera which has the limitation of usage due to turbidity. In Part 1, a design and recognition method for 2D artificial landmark was proposed considering the practical performance of current imaging sonars. In particular, its materials are selected in order to maximize detectability based on characteristics of imaging sonar and ultrasonic waves. It has a simple and omni-directional shape which allows an easy modeling of object, and it includes region based features as identifications. Also, we proposed a real-time recognition algorithm including edge detector, Hough circle transforms, and shape matrix based recognition algorithm. The proposed methods are verified by basin tests using DIDSON.

3D Facial Landmark Tracking and Facial Expression Recognition

  • Medioni, Gerard;Choi, Jongmoo;Labeau, Matthieu;Leksut, Jatuporn Toy;Meng, Lingchao
    • Journal of information and communication convergence engineering
    • /
    • v.11 no.3
    • /
    • pp.207-215
    • /
    • 2013
  • In this paper, we address the challenging computer vision problem of obtaining a reliable facial expression analysis from a naturally interacting person. We propose a system that combines a 3D generic face model, 3D head tracking, and 2D tracker to track facial landmarks and recognize expressions. First, we extract facial landmarks from a neutral frontal face, and then we deform a 3D generic face to fit the input face. Next, we use our real-time 3D head tracking module to track a person's head in 3D and predict facial landmark positions in 2D using the projection from the updated 3D face model. Finally, we use tracked 2D landmarks to update the 3D landmarks. This integrated tracking loop enables efficient tracking of the non-rigid parts of a face in the presence of large 3D head motion. We conducted experiments for facial expression recognition using both framebased and sequence-based approaches. Our method provides a 75.9% recognition rate in 8 subjects with 7 key expressions. Our approach provides a considerable step forward toward new applications including human-computer interactions, behavioral science, robotics, and game applications.

Development of a sonar map based position estimation system for an autonomous mobile robot operating in an unknown environment (미지의 영역에서 활동하는 자율이동로봇의 초음파지도에 근거한 위치인식 시스템 개발)

  • 강승균;임종환
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 1997.10a
    • /
    • pp.1589-1592
    • /
    • 1997
  • Among the prerequisite abilities (perception of environment, path planning and position estimation) of an autonomous mobile robot, position estimation has been seldom studied by mobile robot researchers. In most cases, conventional positioin estimation has been performed by placing landmarks or giving the entrire environmental information in advance. Unlikely to the conventional ones, the study addresses a new method that the robot itself can select distinctive features in the environment and save them as landmarks without any a priori knowledge, which can maximize the autonomous behavior of the robot. First, an orjentaion probaility model is applied to construct a lcoal map of robot's surrounding. The feature of the object in the map is then extracted and the map is saved as landmark. Also, presented is the position estimation method that utilizes the correspondence between landmarks and current local map. In dong this, the uncertainty of the robot's current positioin is estimated in order to select the corresponding landmark stored in the previous steps. The usefulness of all these approaches are illustrated with the results porduced by a real robot equipped with ultrasonic sensors.

  • PDF

Landmark Initialization for Unscented Kalman Filter Sensor Fusion in Monocular Camera Localization

  • Hartmann, Gabriel;Huang, Fay;Klette, Reinhard
    • International Journal of Fuzzy Logic and Intelligent Systems
    • /
    • v.13 no.1
    • /
    • pp.1-11
    • /
    • 2013
  • The determination of the pose of the imaging camera is a fundamental problem in computer vision. In the monocular case, difficulties in determining the scene scale and the limitation to bearing-only measurements increase the difficulty in estimating camera pose accurately. Many mobile phones now contain inertial measurement devices, which may lend some aid to the task of determining camera pose. In this study, by means of simulation and real-world experimentation, we explore an approach to monocular camera localization that incorporates both observations of the environment and measurements from accelerometers and gyroscopes. The unscented Kalman filter was implemented for this task. Our main contribution is a novel approach to landmark initialization in a Kalman filter; we characterize the tolerance to noise that this approach allows.

Global Positioning System for Mobile Robot Navigation in an Indoor Environment

  • Park, Soo-Min;Lee, Bong-Ki;Jin, Tae-Seok;Lee, Jang-Myung
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 2002.10a
    • /
    • pp.37.1-37
    • /
    • 2002
  • Localization is one of the most important functions for the mobile robot navigating in the unstructured environment. Most of previous localization schemes estimate current position and pose of mobile robot by applying various localization algorithms with the information obtained from sensors which are set on the mobile robot, or by recognizing an artificial landmark attached on the wall, or objects of the environment as natural landmark in the indoor environment. Several drawbacks about them have been brought up. To compensate the drawbacks, a new localization method that estimates the global position of the mobile robot by using a camera set on ceiling in the corridor is proposed. This sch...

  • PDF

Vision Processing for Precision Autonomous Landing Approach of an Unmanned Helicopter (무인헬기의 정밀 자동착륙 접근을 위한 영상정보 처리)

  • Kim, Deok-Ryeol;Kim, Do-Myoung;Suk, Jin-Young
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.15 no.1
    • /
    • pp.54-60
    • /
    • 2009
  • In this paper, a precision landing approach is implemented based on real-time image processing. A full-scale landmark for automatic landing is used. canny edge detection method is applied to identify the outside quadrilateral while circular hough transform is used for the recognition of inside circle. Position information on the ground landmark is uplinked to the unmanned helicopter via ground control computer in real time so that the unmanned helicopter control the air vehicle for accurate landing approach. Ground test and a couple of flight tests for autonomous landing approach show that the image processing and automatic landing operation system have good performance for the landing approach phase at the altitude of $20m{\sim}1m$ above ground level.

Internal Pipeline Exploration of an In-pipe Robot Using the Shadow of Pipe Fittings (배관요소 그림자를 이용한 배관로봇의 배관내부 탐사)

  • Lee, Jung-Sub;Lee, Dong-Hyuk;Roh, Se-Gon;Moon, Hyung-Pil;Choi, Hyouk-Ryeol
    • The Journal of Korea Robotics Society
    • /
    • v.5 no.3
    • /
    • pp.251-261
    • /
    • 2010
  • In this paper, we introduce an internal pipeline exploration of an in-pipe robot, based on the landmark recognition system. The fittings of pipelines such as elbows and branches are used as the landmarks. The robot recognizes the landmarks with a vision system by using the shadows of the elements, which are generated by the specially designed illuminator on the robot. By using a simple image-processing, the robot can easily detect and distinguish these landmarks while recognizing the direction of the pipeline path. Simultaneously, all information for exploration is continuously recorded and used to reconstruct the map of the pipelines. The effectiveness of the proposed method is verified by real experiments using the in-pipe robot MRINSPECT V for moving inside of the miniature urban 8-inch gas pipeline structure.

A Real-time Localization System Based on IR Landmark for Mobile Robot in Indoor Environment (이동로봇을 위한 IR 랜드마크 기반의 실시간 실내 측위 시스템)

  • Lee, Jae-Y.;Chae, Hee-Sung;Yu, Won-Pil
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.12 no.9
    • /
    • pp.868-875
    • /
    • 2006
  • The localization is one of the most important issues for mobile robot. This paper describes a novel localization system for the development of a location sensing network. The system comprises wirelessly controlled infrared landmarks and an image sensor which detects the pixel positions of infrared sources. The proposed localization system can operate irrespective of the illumination condition in the indoor environment. We describe the operating principles of the developed localization system and report the performance for mobile robot localization and navigation. The advantage of the developed system lies in its robustness and low cost to obtain location information as well as simplicity of deployment to build a robot location sensing network. Experimental results show that the developed system outperforms the state-of-the-art localization methods.

Analysis and Evaluation of Frequent Pattern Mining Technique based on Landmark Window (랜드마크 윈도우 기반의 빈발 패턴 마이닝 기법의 분석 및 성능평가)

  • Pyun, Gwangbum;Yun, Unil
    • Journal of Internet Computing and Services
    • /
    • v.15 no.3
    • /
    • pp.101-107
    • /
    • 2014
  • With the development of online service, recent forms of databases have been changed from static database structures to dynamic stream database structures. Previous data mining techniques have been used as tools of decision making such as establishment of marketing strategies and DNA analyses. However, the capability to analyze real-time data more quickly is necessary in the recent interesting areas such as sensor network, robotics, and artificial intelligence. Landmark window-based frequent pattern mining, one of the stream mining approaches, performs mining operations with respect to parts of databases or each transaction of them, instead of all the data. In this paper, we analyze and evaluate the techniques of the well-known landmark window-based frequent pattern mining algorithms, called Lossy counting and hMiner. When Lossy counting mines frequent patterns from a set of new transactions, it performs union operations between the previous and current mining results. hMiner, which is a state-of-the-art algorithm based on the landmark window model, conducts mining operations whenever a new transaction occurs. Since hMiner extracts frequent patterns as soon as a new transaction is entered, we can obtain the latest mining results reflecting real-time information. For this reason, such algorithms are also called online mining approaches. We evaluate and compare the performance of the primitive algorithm, Lossy counting and the latest one, hMiner. As the criteria of our performance analysis, we first consider algorithms' total runtime and average processing time per transaction. In addition, to compare the efficiency of storage structures between them, their maximum memory usage is also evaluated. Lastly, we show how stably the two algorithms conduct their mining works with respect to the databases that feature gradually increasing items. With respect to the evaluation results of mining time and transaction processing, hMiner has higher speed than that of Lossy counting. Since hMiner stores candidate frequent patterns in a hash method, it can directly access candidate frequent patterns. Meanwhile, Lossy counting stores them in a lattice manner; thus, it has to search for multiple nodes in order to access the candidate frequent patterns. On the other hand, hMiner shows worse performance than that of Lossy counting in terms of maximum memory usage. hMiner should have all of the information for candidate frequent patterns to store them to hash's buckets, while Lossy counting stores them, reducing their information by using the lattice method. Since the storage of Lossy counting can share items concurrently included in multiple patterns, its memory usage is more efficient than that of hMiner. However, hMiner presents better efficiency than that of Lossy counting with respect to scalability evaluation due to the following reasons. If the number of items is increased, shared items are decreased in contrast; thereby, Lossy counting's memory efficiency is weakened. Furthermore, if the number of transactions becomes higher, its pruning effect becomes worse. From the experimental results, we can determine that the landmark window-based frequent pattern mining algorithms are suitable for real-time systems although they require a significant amount of memory. Hence, we need to improve their data structures more efficiently in order to utilize them additionally in resource-constrained environments such as WSN(Wireless sensor network).