• Journal of the Korea Society of Computer and Information
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• v.12 no.3
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• pp.105-113
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• 2007

In this paper, an image segmentation method which is based on edge salience map and region merging is presented. The edge salience map is calculated by combining a texture edge map with a color edge map. The texture edge map is computed over multiple spatial orientations and frequencies by using Gabor filter. A color edge is computed over the H component of the HSI color model. Then the Watershed transformation technique is applied to the edge salience map to and homogeneous regions where the dissimilarity of color and texture distribution is relatively low. The Watershed transformation tends to over-segment images. To merge the over-segmented regions, first of all, morphological operation is applied to the edge salience map to enhance a contrast of it and also to find mark regions. Then the region characteristics, a Gabor texture vector and a mean color, in the segmented regions is defined and regions that have the similar characteristics, are merged. Experimental results have demonstrated the superiority in segmentation results for various images.

• Proceedings of the IEEK Conference
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• 2001.09a
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• pp.283-286
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• 2001

In this paper, we present a robust region segmentation method based on the watershed transformation of a pseudo-distance map (PDM). A usual approach for the segmentation of a gray-scale image with the watershed algorithm is to apply it to a gradient magnitude image or the Euclidean distance map (EDM) of an edge image. However, it is well known that this approach suffers from the oversegmentation of the given image due to noisy gradients or spurious edges caused by a thresholding operation. In this paper we show thor applying the watershed algorithm to the EDM, which is a regularized version of the EDM and is directly computed form the edgestrength function (ESF) of the input image, significantly reduces the oversegmentation, and the final segmentation results obtained by a simple region-merging process are more reliable and less noisy than those of the gradient-or EDM-based methods. We also propose a simple and efficient region-merging criterion considering both boundary strengths and inner intensities of regions to be merged. The robustness of our method is proven by testing it with a variety of synthetic and real images.

• The Journal of Natural Sciences
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• v.6 no.1
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• pp.79-87
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• 1993

In the map of period-doubling bifurcation, stable fixed points bifurcate to $2^n$ fixed points, and in the chaotic region, the chaotic bands merge to 1/$2^n$ bands. In a typical map, the chaotic bands expand to a broad chaotic band during the merging process, so called crisis. In this paper, interior crises appearing during the merging process will be discussed by using our map and will be analyzed the characteristics of the phenomenon by obtaining the Lyapunov Exponents.

• Proceedings of the KIEE Conference
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• 2004.05a
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• pp.141-143
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• 2004

This paper presents an algorithm in which a feature map is built and localization of a mobile robot is carried out for indoor environments. The algorithm proposes an approach which extracts scale-invariant features of natural landmarks from a pair of stereo images. The feature map is built using these features and updated by merging new landmarks into the map and removing transient landmarks over time. And the position of the robot in the map is estimated by comparing with the map in a database by means of an Extended Kalman filter. This algorithm is implemented and tested using a Pioneer 2-DXE and preliminary results are presented in this paper.

• International Journal of Contents
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• v.3 no.2
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• pp.25-29
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• 2007

In this paper, we discuss the mesh segmentation problem which divides a given 3D mesh into several disjoint sets. To solve the problem, we propose a greedy method based on the merging priority metric defined for representing the geometric properties of meaningful parts. The proposed priority metric is a weighted function using five geometric parameters, those are, a distribution of Gaussian map, boundary path concavity, boundary path length, cardinality, and segmentation resolution. In special, we can control by setting up the weight values of the proposed geometric parameters to obtain visually better mesh segmentation. Finally, we carry out an experiment on several 3D mesh models using the proposed methods and visualize the results.

• Proceedings of the IEEK Conference
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• 2007.07a
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• pp.209-210
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• 2007

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 Journal of Korea Robotics Society
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• v.8 no.4
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• pp.256-265
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• 2013

A local map-based exploration algorithm for mobile robots is presented. Segmented frontiers and their relative transformations constitute a tree structure. By the proposed efficient frontier segmentation and a local map management method, a robot can reduce the unknown area and update the local grid map which is assigned to each frontier node. Although this local map-based exploration method uses only local maps and their adjacent node information, mapping completion and efficiency can be greatly improved by merging and updating the frontier nodes. Also, we suggest appropriate graph search exploration methods for corridor and hall environments. The simulation demonstrates that the entire environment can be represented by well-distributed frontier nodes.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.7
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• pp.693-699
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• 2006

An accurate and compact map is essential to an autonomous mobile robot system. For navigation, it is efficient to use an occupancy grid map because the environment is represented by probability distribution. But it is difficult to apply it to the large environment since it needs a large amount of memory proportional to the environment size. As an alternative, a topological map can be used to represent it in terms of the discrete nodes with edges connecting them. It is usually constructed by the Voronoi-like graphs, but in this paper the topological map is incrementally built based on the local grid map using the thinning algorithm. This algorithm can extract only meaningful topological information by using the C-obstacle concept in real-time and is robust to the environment change, because its underlying local grid map is constructed based on the Bayesian update formula. In this paper, the position probability is defined to evaluate the quantitative reliability of the end nodes of this thinning-based topological map (TTM). The global TTM can be constructed by merging each local TTM by matching the reliable end nodes determined by the position probability. It is shown that the proposed TTM can represent the environment accurately in real-time and it is readily extended to the global TTM.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.745-752
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• 2016

We suggest an efficient Simultaneous Localization and 3D Polygon Map Building (SLAM) method with Kinect depth sensor for mobile robots in indoor environments. In this method, Kinect depth data is separated into row planes so that scan line segments are on each row plane. After grouping all scan line segments from all row planes into line groups, a set of 3D Scan polygons are fitted from each line group. A map matching algorithm then figures out pairs of scan polygons and existing map polygons in 3D, and localization is performed to record correct pose of the mobile robot. For 3D map-building, each 3D map polygon is created or updated by merging each matched 3D scan polygon, which considers scan and map edges efficiently. The validity of the proposed 3D SLAM algorithm is revealed via experiments.

• The Bulletin of The Korean Astronomical Society
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• v.42 no.2
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• pp.41.2-41.2
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• 2017

Discovered as the second highest S/N detection of the Planck SZ survey, PLCK G287.0+32.9 is a massive galaxy cluster that belongs to a rare collection of merging clusters that exhibit two radio relics and a radio halo. A feature that makes this cluster even more unique is the separation of the radio relics with one $\sim 400$ kpc to the north-west of the X-ray peak and the other $\sim 2.8$ Mpc to the south-east. This asymmetric configuration requires a complex merging scenario. A key to gaining insight into the events that caused the formation of the merging features is to understand the dark matter mass distribution. Using a weak-lensing technique on deep Subaru and Hubble Space Telescope observations, we map the dark matter mass distribution of PLCK G287.0+32.9. Our investigation detects five significant mass structures. The mass is dominated by a primary structure that is centered near the X-ray peak of the intracluster medium. Four lesser mass structures are detected with two located within $\sim 1\arcmin$ of the primary mass structure, a third to the north-west, and a fourth near the south-east radio relic. Along with these detections, we estimate the mass of each structure and relate their distributions to the intracluster medium and galaxy distributions. In addition, we discuss the relation of the mass structures to the formation of the relics and plausible merging scenarios.