• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.3
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• pp.164-173
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• 2014

In underwater robotics, vision would be a key element for recognition in underwater environments. However, due to turbidity an underwater optical camera is rarely available. An underwater imaging sonar, as an alternative, delivers low quality sonar images which are not stable and accurate enough to find out natural objects by image processing. For this, artificial landmarks based on the characteristics of ultrasonic waves and their recognition method by a shape matrix transformation were proposed and were proven in Part 1. But, this is not working properly in undulating and dynamically noisy sea-bottom. To solve this, we propose a framework providing a selection phase of likelihood candidates, a selection phase for final candidates, recognition phase and tracking phase in sequence images, where a particle filter based selection mechanism to eliminate fake candidates and a mean shift based tracking algorithm are also proposed. All 4 steps are running in parallel and real-time processing. The proposed framework is flexible to add and to modify internal algorithms. A pool test and sea trial are carried out to prove the performance, and detail analysis of experimental results are done. Information is obtained from tracking phase such as relative distance, bearing will be expected to be used for control and navigation of underwater robots.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.328-336
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• 2012

In this paper, we propose a robust fingertip extraction and extended Continuously Adaptive Mean Shift (CAMSHIFT) based robust hand gesture recognition for natural human-like HRI (Human-Robot Interaction). Firstly, for efficient and rapid hand detection, the hand candidate regions are segmented by the combination with robust $YC_bC_r$ skin color model and haar-like features based adaboost. Using the extracted hand candidate regions, we estimate the palm region and fingertip position from distance transformation based voting and geometrical feature of hands. From the hand orientation and palm center position, we find the optimal fingertip position and its orientation. Then using extended CAMSHIFT, we reliably track the 2D hand gesture trajectory with extracted fingertip. Finally, we applied the conditional density propagation (CONDENSATION) to recognize the pre-defined temporal motion trajectories. Experimental results show that the proposed algorithm not only rapidly extracts the hand region with accurately extracted fingertip and its angle but also robustly tracks the hand under different illumination, size and rotation conditions. Using these results, we successfully recognize the multiple hand gestures.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2010.10a
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• pp.281-284
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• 2010

In this paper, we present Hand-gesture recognition for actual computing into color images from camera. Color images are binarization and labeling by using the YCbCr Color model. Respectively label area seeks the center point of the hand from to search Maximum Inscribed Circle which applies Voronoi-Diagram. This time, searched maximum circle and will analyze the elliptic ingredient which is contiguous so a hand territory will be able to extract. we present the presentation contral system using elliptic element and Maximum Inscribed Circle. This algorithm is to recognize the various environmental problems in the hand gesture recognition in the background objects with similar colors has the advantage that can be effectively eliminated.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2012.07a
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• pp.294-297
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• 2012

본 논문에서는 컬러 영상의 검색을 위하여 영상을 색상 정보에 기반한 pixel layer (cluster)의 집합체로 모델링하고, 두 layer 간의 유사도를 각 layer 를 이루는 pixel 들의 색상 분포에 따른 공간적 분포를 이용하여 측정하는 기법을 제안한다. 먼저 pixel layering 단계에서는 HSV 색 공간에서 mean-shift clustering 알고리즘을 통해 초기 layer 들을 얻고, 비슷한 색상의 layer 들은 합쳐 영상의 soft segmentation 과 유사한 결과를 얻는다. 비교할 두 영상에서 pixel layering 을 한 후, 각 layer 를 이진화된 공간분포 지도로 형성하고 그 차이를 비교함으로써 유사도를 측정한다. 이 때, 사용하는 가중치로서 HSV 색 공간 분포의 비슷한 정도를 정의하는데, 이는 HSV 색 공간을 XYZ 의 3 차원 좌표로 설정하고, overlap 되는 pixel 수로 정의하였다. 본 논문에서 제안한 pixel layer 들 간의 색상 공간 분포에 따른 공간적 분포를 이용한 영상 검색 기법은 MPEG-7 에서 정의한 대표색상 기반의 영상 검색보다 우수한 성능을 보여주었다.

• Proceedings of the Korean Information Science Society Conference
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• 2006.10a
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• pp.475-478
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• 2006

실감형 게임은 사람의 신체 움직임 및 오감을 최대한 반영한 리얼리티를 추구하는 전문적인 게임이다. 현재 개발된 실감형 게임들은 비 장애우를 대상으로 만들어 졌기 때문에 많은 움직임을 필요로 한다. 하지만 신체적 불편함을 가진 장애우들은 이러한 게임들을 이용하는데 어려움이 있다. 따라서 본 논문에서는 PC상에서 최소의 얼굴 움직임을 사용하여 수행할 수 있는 실감형 게임 시스템을 제안한다. 제안된 실감형 게임 시스템은 웹 카메라로부터 얻어진 영상에서 신경망 기반의 텍스쳐 분류기를 이용하여 눈 영역을 추출한다. 추출된 눈 영역은 Mean-shift 알고리즘을 이용하여 실시간으로 추적되어지고, 그 결과로 마우스의 움직임이 제어된다. 구현된 flash게임과 연동하여 게임을 눈의 움직임으로 제어 할 수 있다. 제안된 시스템의 효율성을 검증하기 위하여 장애우와 비 장애우로 분류하여 성능을 평가 하였다. 그 결과 제안된 시스템이 보다 편리하고 친숙하게 신체 장애우 에게 활용 될 수 있으며 복잡한 환경에서도 확실한 얼굴 추적을 통하여 실감형 게임 시스템을 실행 할 수 있음이 증명되었다.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.24 no.7B
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• pp.1351-1360
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• 1999

In frequency selective channels, conventional PN code acquisition schemes are not ideal candidates. This is because they are primarily designed for the AWGN channel. In this paper, a direct-sequence spread-spectrum(DSSS) PN code acquisition system based on digital matched filtering (DMF) with automatic threshold control(ATC) algorithm is presented and analyzed with regards to probability of detection and probability of false alarm. These two important probabilities, the probability of detection ($P_D$) and the probability of false alarm ($P_{FA}$) are derived and analyzed in considering Doppler shift, sampling rate, mean acquisition time, and PN chip rate in frequency selective Rayleigh fading channel when using serial-search method as detection technique. From computer simulation results of a DMF acquisition system model, it is shown that the performance of the acquisition system using ATC algorithm is better than that of constant threshold system.

• Journal of the Institute of Convergence Signal Processing
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• v.15 no.2
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• pp.42-47
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• 2014

A finger-gesture game controller using the single camera is implemented in this paper, which is based on the recognition of the number of fingers and the index finger moving direction. Proposed method uses the CAMShift algorithm to trace the end-point of index finger effectively. The number of finger is recognized by using a double circle tracing method. Then, HSI color mode transformation is performed for the CAMShift algorithm, and YCbCr color model is used in the double circle tracing method. Also, all processing tasks are implemented by using the Intel OpenCV library and C++ language. In order to evaluate the performance of the proposed method, we developed a shooting game simulator and validated the proposed method. The proposed method showed the average recognition ratio of more than 90% for each of the game command-mode.

• The KIPS Transactions:PartB
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• v.15B no.3
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• pp.205-210
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• 2008

A new approach is proposed for restoration of corrupted regions and segmentation in natural text images. The challenge is to fill in the corrupted regions on the basis of color feature analysis by second order symmetric stick tensor. It is show how feature analysis can benefit from analyzing features using tensor voting with chromatic and achromatic components. The proposed method is applied to text images corrupted by manifold types of various noises. Firstly, we decompose an image into chromatic and achromatic components to analyze images. Secondly, selected feature vectors are analyzed by second-order symmetric stick tensor. And tensors are redefined by voting information with neighbor voters, while restore the corrupted regions. Lastly, mode estimation and segmentation are performed by adaptive mean shift and separated clustering method respectively. This approach is automatically done, thereby allowing to easily fill-in corrupted regions containing completely different structures and surrounding backgrounds. Applications of proposed method include the restoration of damaged text images; removal of superimposed noises or streaks. We so can see that proposed approach is efficient and robust in terms of restoring and segmenting text images corrupted.

• KIPS Transactions on Software and Data Engineering
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• v.8 no.1
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• pp.19-26
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• 2019

In this paper, the classification performance of learning algorithms is compared for TAB digit recognition. The TAB digits that are segmented from TAB musical notes contain TAB lines and musical symbols. The labeling method and non-linear filter are designed and applied to extract fret digits only. The shift operation of the 4 directions is applied to generate more data. The selected models are Bayesian classifier, support vector machine, prototype based learning, multi-layer perceptron, and convolutional neural network. The result shows that the mean accuracy of the Bayesian classifier is about 85.0% while that of the others reaches more than 99.0%. In addition, the convolutional neural network outperforms the others in terms of generalization and the step of the data preprocessing.

• Journal of the Korea Society of Computer and Information
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• v.16 no.7
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• pp.105-115
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• 2011

In Vision-based Intelligent Transportation System(ITS) the segmentation of road region is a very basic functionality. Accordingly, in this paper, we propose a region segmentation method using adaptive pattern extraction technique to segment road regions and sky regions from original images. The proposed method consists of three steps; firstly we perform the initial segmentation using Mean Shift algorithm, the second step is the candidate region selection based on a static-pattern matching technique and the third is the region growing step based on a dynamic-pattern matching technique. The proposed method is able to get more reliable results than the classic region segmentation methods which are based on existing split and merge strategy. The reason for the better results is because we use adaptive patterns extracted from neighboring regions of the current segmented regions to measure the region homogeneity. To evaluate advantages of the proposed method, we compared our method with the classical pattern matching method using static-patterns. In the experiments, the proposed method was proved that the better performance of 8.12% was achieved when we used adaptive patterns instead of static-patterns. We expect that the proposed method can segment road and sky areas in the various road condition in stable, and take an important role in the vision-based ITS applications.