• 대한전자공학회논문지
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• 제26권8호
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• pp.1238-1246
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• 1989

In this paper, a texture synthesis technique based on the NCAR(non-causal auto-regressive) model and the pyramid structure is proposed. In order to estimate the NCAR model parameters accurately from a noisy texture, the MAP(maximum a posteriori) estimation technique is also employed. In our approach, since the input texture is decomposed into the Laplacian oyramid planes first and then the NCAR model is applied to each plane, we are able to obtain a good synthesized texture even if the texture exhibits some non-random local structure or non-homogenity. The usrfulness of the proposed method is demonstrated with seveal real textures in the Brodatz album. Finally, the 2-dimensional MAP estimation technique can be used to the image restoration for noisy images as well as a texture image synthesis.

• 대한원격탐사학회지
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• 제23권5호
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• pp.455-464
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• 2007

Lee(2007) suggested the Point-Jacobian iteration MAP estimation(PJIMAP) for noise removal of the images that are corrupted by multiplicative speckle noise. It is to find a MAP estimation of noisy-free imagery based on a Bayesian model using the lognormal distribution for image intensity and an MRF for image texture. When the image intensity is logarithmically transformed, the speckle noise is approximately Gaussian additive noise, and it tends to a normal probability much faster than the intensity distribution. The MRF is incorporated into digital image analysis by viewing pixel types as states of molecules in a lattice-like physical system. In this study, the MAP estimation is computed by the Point-Jacobian iteration using adaptive parameters. At each iteration, the parameters related to the Bayesian model are adaptively estimated using the updated information. The results of the proposed scheme were compared to them of PJIMAP with SAR simulation data generated by the Monte Carlo method. The experiments demonstrated an improvement in relaxing speckle noise and estimating noise-free intensity by using the adaptive parameters for the Ponit-Jacobian iteration.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2015년도 추계학술대회
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• pp.93-96
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• 2015

Disparity Map 예측의 목적은 유사한 두개 또는 그 이상의 이미지들에서 서로 대응하는 픽셀을 찾는 데 있다. 하지만 실제 환경에서 정확하고 일정한 Disparity를 획득하는 것은 어려운 문제이다. 즉, 스테레오 이미지의 Intensity 정보는 조명 방향, 조명 색상, 카메라 노출과 같은 Radiometric 특성에 쉽게 영향을 받을 수 있다. 따라서 기존의 일반적인 Disparity Map 예측 방법은 Radiometric 조건에서 좋은 결과를 얻기 힘들다. 본 논문에서는 실제 환경에 근접한 Radiometric 변화에서 신뢰성을 가지는 Disparity Map 예측 방법을 제안한다. 스테레오 이미지에서 하나의 이미지가 다른 Radiometric 특성을 가지더라도 객체의 일정 블록 구간 내 픽셀의 Intensity가 일정성(Constancy)를 가진다는 것에 착안한다. 실험결과, 제안하는 방법이 Radiometric 조건에서 검증적인 대조군보다 정확한 Disparity Map을 보여준다. 결과적으로, 본 기술은 Radiometric 조건의 변화에서 안정적으로 Disparity Map을 예측한다.

• 제어로봇시스템학회논문지
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• 제22권12호
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• pp.1046-1052
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• 2016

For the safe driving of autonomous vehicles, accurate position estimation is required. Generally, position error must be less than 1m because of lane keeping. However, GPS positioning error is more than 1m. Therefore, we must correct this error and a map matching algorithm is generally used. Especially, road marking intensity map have been used in many studies. In previous work, 3D LIDAR with many vertical layers was used to generate a local intensity map. Because it can be obtained sufficient longitudinal information for map matching. However, it is expensive and sufficient road marking information cannot be obtained in rush hour situations. In this paper, we propose a localization algorithm using an accumulated intensity local map. An accumulated intensity local map can be generated with sufficient longitudinal information using 3D LIDAR with a few vertical layers. Using this algorithm, we can also obtain sufficient intensity information in rush hour situations. Thus, it is possible to increase the reliability of the map matching and get accurate position estimation result. In the experimental result, the lateral RMS position error is about 0.12m and the longitudinal RMS error is about 0.19m.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제9권1호
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• pp.242-259
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• 2015

Three-dimensional video coding is one of the main challenges restricting the widespread applications of 3D video and free viewpoint video. In this paper, a novel fractal coding algorithm with motion-vector-field-based motion estimation for depth map sequence is proposed. We firstly add pre-search restriction to rule the improper domain blocks out of the matching search process so that the number of blocks involved in the search process can be restricted to a smaller size. Some improvements for motion estimation including initial search point prediction, threshold transition condition and early termination condition are made based on the feature of fractal coding. The motion-vector-field-based adaptive hexagon search algorithm on the basis of center-biased distribution characteristics of depth motion vector is proposed to accelerate the search. Experimental results show that the proposed algorithm can reach optimum levels of quality and save the coding time. The PSNR of synthesized view is increased by 0.56 dB with 36.97% bit rate decrease on average compared with H.264 Full Search. And the depth encoding time is saved by up to 66.47%. Moreover, the proposed fractal depth map sequence codec outperforms the recent alternative codecs by improving the H.264/AVC, especially in much bitrate saving and encoding time reduction.

• Journal of information and communication convergence engineering
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• 제14권4호
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• pp.207-214
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• 2016

In this paper, we propose a radial reference map-based location fingerprinting technique with constant spacing from an access point (AP) to all reference points by considering the minimum dynamic range of the received signal strength indicator (RSSI) obtained through an experiment conducted in an indoor environment. Because the minimum dynamic range, 12 dBm, of the RSSI appeared every 20 cm during the training stage, a cell spacing of 80 cm was applied. Furthermore, by considering the minimum dynamic range of an RSSI in the location estimation stage, when an RSSI exceeding the cumulative average by ${\pm}6dBm$ was received, a previously estimated location was provided. We also compared the location estimation accuracy of the proposed method with that of a conventional fingerprinting technique that uses a grid reference map, and found that the average location estimation accuracy of the conventional method was 21.8%, whereas that of the proposed technique was 90.9%.

• 대한의용생체공학회:의공학회지
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• 제8권2호
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• pp.205-214
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• 1987

In this paper, a mathmatical model for the purpose of QRS detection is considered in the case of the occurence of nonoverlappjng pulse-shaped waveforms corrupted with white noise. The number of waveform, the arrival times, amplitudes, and widths of QRS complexes are regarded as random variables. The joint MAP estimation of all the unknown Quantities consists of linear filtering followed by an optimization procedure. Because the optimization procedure is time-consuming, this procedure is modified so that a threshold test is obtained.

• 자동차안전학회지
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• 제13권4호
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• pp.14-19
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• 2021

This paper presents LiDAR static obstacle map based vehicle dynamic state estimation algorithm for urban autonomous driving. In an autonomous driving, state estimation of host vehicle is important for accurate prediction of ego motion and perceived object. Therefore, in a situation in which noise exists in the control input of the vehicle, state estimation using sensor such as LiDAR and vision is required. However, it is difficult to obtain a measurement for the vehicle state because the recognition sensor of autonomous vehicle perceives including a dynamic object. The proposed algorithm consists of two parts. First, a Bayesian rule-based static obstacle map is constructed using continuous LiDAR point cloud input. Second, vehicle odometry during the time interval is calculated by matching the static obstacle map using Normal Distribution Transformation (NDT) method. And the velocity and yaw rate of vehicle are estimated based on the Extended Kalman Filter (EKF) using vehicle odometry as measurement. The proposed algorithm is implemented in the Linux Robot Operating System (ROS) environment, and is verified with data obtained from actual driving on urban roads. The test results show a more robust and accurate dynamic state estimation result when there is a bias in the chassis IMU sensor.

• Ocean Systems Engineering
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• 제11권4호
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• pp.331-351
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• 2021

Underwater images are very much different from images taken on land, due to the presence of a higher disturbance ratio caused by the presence of water medium between the camera and the target object. These distortions and noises result in unclear details and reduced quality of the output image. An underwater image restoration method is proposed in this paper, which uses blurriness information, background light neutralization information, and red-light intensity to estimate depth. The transmission map is then estimated using the derived depth map, by considering separate attenuation coefficients for direct and backscattered signals. The estimated transmission map and estimated background light are then used to recover the scene radiance. Qualitative and quantitative analysis have been used to compare the performance of the proposed method against other state-of-the-art restoration methods. It has been shown that the proposed method can yield good quality restored underwater images. The proposed method has also been evaluated using different qualitative metrics, and results have shown that method is highly capable of restoring underwater images with different conditions. The results are significant and show the applicability of the proposed method for underwater image restoration work.

• 환경영향평가
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• 제14권3호
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• pp.97-107
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• 2005

The purpose of this study is to develop a system, which estimates watershed pollutant loading rate through the combination of GIS and computational mode. Also, the applicability of this study was estimated by the application of the above system for Chuncheon City. The detailed results of these studies are as follows; The pollutant loading estimation system was developed for more convenient estimation of pollutant loading rate in watershed, and the system load was minimized by the separation of estimation module for point and non-point source. This system on the basis of GIS is very economical and efficient because it can be applied to other watershed with the watershed map. System modification is not needed. The pollutant loading estimation system for point source was developed to estimate the pollutant loading rate in watershed through the extraction of the proper data from all districts and yearly data and the execution of spatial analysis which is main function of GIS. From the verification result of spatial analysis, real watershed area and the administrative districtarea extracted by spatial analysis were $1,114,893,340.15m^2$ and $1,114,878,683.68m^2$, respectively. It shows that the spatial analysis results were very exact with only 0.001% error. The pollutant loading estimation system for non-point source was developed to calculate the pollutant loading rate through the overlaying of land-use and watershed map after the construction of new land-use map using the land register database with most exact land use classification. Application result for Chuncheon City shows that the proposed system results in one percent land use error while the statistical method results in five percent. More exact nonpoint source pollutant loading was estimated from this system.