• Journal of Institute of Control, Robotics and Systems
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• v.11 no.8
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• pp.678-687
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• 2005

This paper describes a relative localization algorithm using odometry data and consecutive local maps. The purpose of this paper is the odometry error correction using the area matching of two consecutive local maps. The local map is built up using a sensor module with dual laser beams and USB camera. The range data form the sensor module is measured using the structured lighting technique (active stereo method). The advantage in using the sensor module is to be able to get a local map at once within the camera view angle. With this advantage, we propose the AVS (Aligned View Sector) matching algorithm for. correction of the pose error (translational and rotational error). In order to evaluate the proposed algorithm, experiments are performed in real environment.

• Journal of Digital Contents Society
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• v.17 no.6
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• pp.523-529
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• 2016

Stereo matching algorithm is an essential part in computer vision and photography. Accuracy and computational complexity are challenges of stereo matching algorithm. Much research has been devoted to stereo matching based on cost volume filtering of matching costs. Local stereo matching based guided image filtering (GIF) has a computational complexity of O(N), but is still not enough to provide real-time 3-dimensional (3-D) video services. The proposed algorithm concentrates reduction of computational complexity using the concept of fast guided image filter, which increase the speed up to $O(N/\small{s}^2)$ with a sub-sampling ratio $\small{s}$. Experimental results indicated that the proposed algorithm achieves effective local stereo matching as well as a fast execution time for 3-D video service.

• Journal of Biomedical Engineering Research
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• v.28 no.5
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• pp.601-608
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• 2007

2 Dimensional Gel Electrophoresis(2DGE) is an essentialmethodology for analysis on the expression of various proteins. For example, information for the location, mass, expression, size and shape of the proteins obtained by 2DGE can be used for diagnosis, prognosis and biological progress by comparison of patients with the normal persons. Protein spot matching for this purpose is comparative analysis of protein expression pattern for the 2DGE images generated under different conditions. However, visual analysis of protein spots which are more than several hundreds included in a 2DGE image requires long time and heavy effort. Furthermore, geometrical distortion makes the spot matching for the same protein harder. In this paper, an iterative algorithm is introduced for more efficient spot matching. Proposed method is first performing global matching step, which reduces the geometrical difference between the landmarks and the spot to be matched. Thus, movement for a spot is defined by a weighted sum of the movement of the landmark spots. Weight for the summation is defined by the inverse of the distance from the spots to the landmarks. This movement is iteratively performed until the total sum of the difference between the corresponding landmarks is larger than a pre-selected value. Due to local distortion generally occurred in 2DGE images, there are many regions in whichmany spot pairs are miss-matched. In the second stage, the same spot matching algorithm is applied to such local regions with the additional landmarks for those regions. In other words, the same method is applied with the expanded landmark set to which additional landmarks are added. Our proposed algorithm for spot matching empirically proved reliable analysis of protein separation image by producing higher accuracy.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.3
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• pp.69-78
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• 1996

This paper presetns an iterative relaxation method for stereo matching using matching probability and compatibility coefficients between disparities. Stereo matching can be considered as the labeling problem of assigning unique matches to feature points of image an relaxation labelin gis an iterative procedure which reduces local ambiguities and achieves global consistency. the relation between disparities is determined from highly reliable matches in initial matching and quantitatively expressed in temrs of compatibility coefficient. The matching results of neighbor pixels support center pixel through compatibility coefficients and update its matching probability. The proposed adaptive method reduces the degradtons on the discontinuities of disparity areas and obtains fast convergence.

• Proceedings of the KSME Conference
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• 2001.11a
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• pp.324-329
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• 2001

A novel method for non-matching interfaces on the boundaries of the finite elements in partitioned domains is presented by introducing interface elements in this paper. The interface element method (IEM) satisfies the continuity conditions exactly through interfaces without recourse to the Lagrange multiplier technique. The moving least square (MLS) approximation in the present study is implemented to construct the shape functions of the interface elements. Alignment of the boundaries of sub-domains in the MLS approximation and integration domains provides a consistent numerical integration due to one form of rational functions in an integration domain. The compatibility of displacements on the boundaries of the finite elements and the interface elements is always preserved in this method, and the completeness of the shape functions of the interface elements guarantees the convergence of numerical solutions. The numerical examples show that the interface element method is a useful tool for the analysis of a partitioned system and for a global-local analysis.

• Journal of the Institute of Convergence Signal Processing
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• v.13 no.1
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• pp.12-18
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• 2012

Stereo correspondence is the central problem of stereo vision. In this paper, we propose a stereo matching scheme based on a genetic algorithm using a multi-resolution method and AD-Census. The proposed approach considers the matching environment as an optimization problem and finds the disparity by using a genetic algorithm And adaptive chronosome structure using edge pixels and crossover mechanism are employed in this technique. A cost function is composes of certain constraints whice are commonly used in stereo matching. AD-Census measure is applied to reduce disparity error. To increase the efficiency of process, we apply image pyramid method to stereo matching and calculate the initial disparity map at the coarsest resolution. Then initial disparity map is propagated to the next finer resolution, interpolated and performed disparity refinement using local feature vector. We valid our method not only reduces the search time for correspondence compared with conventional GA-based method but also ensures the validity of matching.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.15 no.1
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• pp.343-364
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• 2021

In the 5G era, the communication networks tend to be ultra-densified, which will improve the accuracy of indoor positioning and further improve the quality of positioning service. In this study, we propose an indoor three-dimensional (3D) dynamic reconstruction fingerprint matching algorithm (DSR-FP) in a 5G ultra-dense network. The first step of the algorithm is to construct a local fingerprint matrix having low-rank characteristics using partial fingerprint data, and then reconstruct the local matrix as a complete fingerprint library using the FPCA reconstruction algorithm. In the second step of the algorithm, a dynamic base station matching strategy is used to screen out the best quality service base stations and multiple sub-optimal service base stations. Then, the fingerprints of the other base station numbers are eliminated from the fingerprint database to simplify the fingerprint database. Finally, the 3D estimated coordinates of the point to be located are obtained through the K-nearest neighbor matching algorithm. The analysis of the simulation results demonstrates that the average relative error between the reconstructed fingerprint database by the DSR-FP algorithm and the original fingerprint database is 1.21%, indicating that the accuracy of the reconstruction fingerprint database is high, and the influence of the location error can be ignored. The positioning error of the DSR-FP algorithm is less than 0.31 m. Furthermore, at the same signal-to-noise ratio, the positioning error of the DSR-FP algorithm is lesser than that of the traditional fingerprint matching algorithm, while its positioning accuracy is higher.

• Proceedings of the IEEK Conference
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• 2000.09a
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• pp.393-396
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• 2000

본 논문에서는 영상의 화소값으로부터 추출된 유사 특징점(quasi-feature point)을 이용한 이미지 모자이킹 알고리즘을 제안한다. 유사 특징점의 선택은 전역 정합(global matching)의 결과로부터 중첩된 영역을 4개의 부영역(sub-area)으로 분할하고, 각각의 분할된 부 영역에서 국부 분산(local variance)의 크기가 큰 블록을 선정, 이 블록의 중심 화소를 유사 특징점으로 선택한다. 유사 특징점에 대한 정합은 카메라 이동에 따른 왜곡(distortion)과 조명의 변화를 고려한 블록 정합 알고리즘(block matching algorithm)을 이용한다.

• ETRI Journal
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• v.27 no.5
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• pp.569-578
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• 2005

The purpose of this paper is to describe the implementation of monolithically matching circuits, interface circuits, and RF core circuits to the same substrate. We designed and fabricated on-chip 1 to 6 GHz up-conversion and 1 to 8 GHz down-conversion mixers using a 0.8 mm SiGe hetero-junction bipolar transistor (HBT) process technology. To fabricate a SiGe HBT, we used a reduced pressure chemical vapor deposition (RPCVD) system to grow a base epitaxial layer, and we adopted local oxidation of silicon (LOCOS) isolation to separate the device terminals. An up-conversion mixer was implemented on-chip using an intermediate frequency (IF) matching circuit, local oscillator (LO)/radio frequency (RF) wideband matching circuits, LO/IF input balun circuits, and an RF output balun circuit. The measured results of the fabricated up-conversion mixer show a positive power conversion gain from 1 to 6 GHz and a bandwidth of about 4.5 GHz. Also, the down-conversion mixer was implemented on-chip using LO/RF wideband matching circuits, LO/RF input balun circuits, and an IF output balun circuit. The measured results of the fabricated down-conversion mixer show a positive power conversion gain from 1 to 8 GHz and a bandwidth of about 4.5 GHz.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.2
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• pp.129-138
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• 2016

This paper presents a natural corners-based SLAM (Simultaneous Localization and Mapping) with a robust data association algorithm in a real unknown environment. Corners are extracted from raw laser sensor data, which are chosen as landmarks for correcting the pose of mobile robot and building the map. In the proposed data association method, the extracted corners in every step are separated into several groups with small numbers of corners. In each group, local best matching vector between new corners and stored ones is found by joint compatibility, while nearest feature for every new corner is checked by individual compatibility. All these groups with local best matching vector and nearest feature candidate of each new corner are combined by partial compatibility with linear matching time. Finally, SLAM experiment results in an indoor environment based on the extracted corners show good robustness and low computation complexity of the proposed algorithms in comparison with existing methods.