• The Journal of Korea Robotics Society
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• v.9 no.2
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• pp.104-110
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• 2014

Mapping is a fundamental element for robotic services. There are available many types of map data representation such as grid map, metric map, topology map, etc. As more robots are deployed for services, more chances of exchanging map data among the robots emerge and standardization of map data representation (MDR) becomes more valuable. Currently, activities in developing MDR standard are underway in IEEE Robotics and Automation Society. The MDR standard is for a common representation and encoding of the two-dimensional map data used for navigation by mobile robots. The standard focuses on interchange of map data among components and systems, particularly those that may be supplied by different vendors. This paper aims to introduce MDR standard and its application to map merging. We have applied the basic structure of the MDR standard to a grid map and Voronoi graph as a kind of topology map and performed map merging between two different maps. Simulation results show that the proposed MDR is suitable for map data exchange among robots.

• The KIPS Transactions:PartB
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• v.17B no.3
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• pp.239-248
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• 2010

Leukocyte in blood smear image provides significant information to doctors for diagnosis of patient health status. Therefore, it is necessary step to separate leukocyte from blood smear image among various blood cells for early disease prediction. In this paper, we present a saliency map and stepwise region merging based leukocyte segmentation method. Since leukocyte region has salient color and texture, we create a saliency map using these feature map. Saliency map is used for sub-image separation. Then, clustering is performed on each sub-image using mean-shift. After mean-shift is applied, stepwise region-merging is applied to particle clusters to obtain final leukocyte nucleus. The experimental results show that our system can indeed improve segmentation performance compared to previous researches with average accuracy rate of 71%.

• Journal of Korea Multimedia Society
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• v.19 no.7
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• pp.1116-1126
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• 2016

Image segmentation is widely used in the pre-processing stage of image analysis and, therefore, the accuracy of image segmentation is important for performance of an image-based analysis system. An efficient image segmentation method is proposed, including a filtering process for super-pixels, improved saliency map information, and a merge process. The proposed algorithm removes areas that are not equal or of small size based on comparison of the area of smoothed superpixels in order to maintain generation of a similar size super pixel area. In addition, application of a bilateral filter to an existing saliency map that represents human visual attention allows improvement of separation between objects and background. Finally, a segmented result is obtained based on the suggested merging process without any prior knowledge or information. Performance of the proposed algorithm is verified experimentally.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.7
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• pp.2400-2419
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• 2014

Pre-segmented pixels can reduce the difficulty of segmentation and promote the segmentation performance. This paper proposes a novel segmentation method based on merging texture superpixels by computing inner similarity. Firstly, we design a set of Gabor filters to compute the amplitude responses of original image and compute the texture map by a salience model. Secondly, we employ the simple clustering to extract superpixles by affinity of color, coordinates and texture map. Then, we design a normalized histograms descriptor for superpixels integrated color and texture information of inner pixels. To obtain the final segmentation result, all adjacent superpixels are merged by the homogeneity comparison of normalized color-texture features until the stop criteria is satisfied. The experiments are conducted on natural scene images and synthesis texture images demonstrate that the proposed segmentation algorithm can achieve ideal segmentation on complex texture regions.

• Spatial Information Research
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• v.19 no.1
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• pp.73-82
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• 2011

Recently, demand for the use of cadastral map is increasing in both public and private area. To use cadastral map in web or mobile environment, construction of the multi-representation database(MRDB) that is the compressed into multiple scale from the original map data is recommended. In this study, the map generalization methodology for the cadastral map by applying overlay with topographic map and polygon generalization technique is suggested. This process is composed of three steps, re-constructing the network data of topographic map, polygon merging of parcel lines according to network degree, and applying line simplification techniques. Proposed methodologies are applied to the cadastral map in Suwon area. The result map was generalized into 1:5,000, 1:20,000, 1:100,000 scale, and data compression ratio was shown in 15% 8% 1% level respectively.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.313-314
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• 2006

Obtained disparity map from the stereo camera by using the several stereo matching algorithms carries lots of noise because of various causes. In our approach, mode filtering and noise elimination technique using the histogram and projection-based region merging methods are adopted for improving the quality of disparity map and image segmentation. The proposed algorithms are implemented in VHDL and the real-time experimentation shows the accurately divided objects.

• The Bulletin of The Korean Astronomical Society
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• v.44 no.2
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• pp.75.1-75.1
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• 2019

We introduce a novel method for reconstructing the projected dark matter mass maps of merging galaxy clusters by applying the convolutional neural network (CNN) to their weak lensing maps. We generate synthesized grayscale images from given weak lensing maps that preserve their averaged galaxy ellipticity. We then apply them to multi-layered CNN with architectures of alternating convolution and trans-convolution filters to predict the mass maps. We train our architecture with 1,000 Subaru/Suprime-Cam mock weak lensing maps, and our method have better mass map prediction than the Kaiser-Squires method with the following three aspects: (1) better pixel-to-pixel correlation, (2) more accurate finding of density peak position, and (3) free from mass-sheet degeneracy. We also apply our method to the HST weak lensing map of the El Gordo cluster and compare our result to the previous studies.

• International Journal of CAD/CAM
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• v.3 no.1_2
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• pp.77-83
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• 2003

We propose two algorithms to generate (1) polygonal meshes and (2) developable surface patches far generalized cylinders defined by contours of discrete curves. To solve the contour blending problem of generalized cylinder, the presented algorithms have adopted the algorithm and related properties of LIDM (linear interpolation by direction map) that interpolate geometric shapes based on direction map merging and group scaling operations. Proposed methods are fast to compute and easy to implement.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.4
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• pp.114-130
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• 2022

The purpose of this study was to investigate the possibility of increasing the efficiency of disaster relief rescue operations through collaboration among multiple aerial and ground robots. The robots create 2.5D maps, which are merged into a 2.5D map. The 2.5D map can be handled by a low-specification controller of an aerial robot and is suitable for ground robot navigation. For localization of the aerial robot, a six-degree-of-freedom pose recognition method using VIO was applied. To build a 2.5D map, an image conversion technique was employed. In addition, to merge 2.5D maps, an image similarity calculation technique based on the features on a wall was used. Localization and navigation were performed using a ground robot to evaluate the reliability of the 2.5D map. As a result, it was possible to estimate the location with an average and standard error of less than 0.3 m for the place where the 2.5D map was normally built, and there were only four collisions for the obstacle with the smallest volume. Based on the 2.5D map building and map merging system for the aerial robot used in this study, it is expected that disaster response work efficiency can be improved by combining the advantages of heterogeneous robots.

• The KIPS Transactions:PartD
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• v.14D no.7
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• pp.819-828
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• 2007

In this paper, we propose a topic maps matching and merging approach based on the syntactic or semantic characteristics and constraints of the topic maps. Previous schema matching approaches have been developed to enhance effectiveness and generality of matching techniques. However they are inefficient because the approaches should transform input ontologies into graphs and take into account all the nodes and edges of the graphs, which ended up requiring a great amount of processing time. Now, standard languages for developing ontologies are RDF/OWL and Topic Maps. In this paper, we propose an enhanced version of matching and merging technique based on topic partitioning, several matching operations and merging conflict detection.