• Journal of KIISE:Databases
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• v.29 no.2
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• pp.110-118
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• 2002

This paper presents a 3-D graphic database system based on XML that supports content-based retrievals of 3-D images, Most of graphics application systems are currently centered around the processing of 2-D images and research works on 3-D graphics are mainly concerned about the visualization aspects of 3-D image. They do not support the semantic modeling of 3-D objects and their spatial relations. In our data model, 3-D images are represented as compositions of 3-D graphic objects with associated spatial relations. Complex 3-D objects are mode]ed using a set of primitive 3-D objects rather than the lines and polygons that are found in traditional graphic systems. This model supports content-based retrievals of scenes containing a particular object or those satisfying certain spatial relations among the objects contained in them. 3-D images are stored in the database as XML documents using 3DGML DTD that are developed for modeling 3-D graphic data. Finally, this paper describes some examples of query executed in our Web-based prototype database system.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1115-1121
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• 2009

For HRI (Human-Robot Interaction) in daily life, robots need to recognize non-rigid objects such as clothes and blankets. However, the recognition of non-rigid objects is challenging because of the variation of the shapes according to the places and laying manners. In this paper, the cognition of non-rigid object based on a cognitive system is presented. The characteristics of non-rigid objects are analysed in the view of HRI and referred to design a framework for the cognition of them. We adopt a linguistic cognitive system for describing all of the events happened to robots. When an event related to the non-rigid objects is occurred, the cognitive system describes the event into a sentential form and stores it at a sentential memory, and depicts the objects with a spatial model for being used as references. The cognitive system parses each sentence syntactically and semantically, in which the nouns meaning objects are connected to their models. For answering the questions of humans, sentences are retrieved by searching temporal information in the sentential memory and by spatial reasoning in a schematic imagery. Experiments show the feasibility of the cognitive system for cognizing non-rigid objects in HRI.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.24 no.10B
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• pp.1902-1911
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• 1999

In this paper we present a content-based image retrieval algorithm using the visual feature vectors which describe the spatial characteristics of objects. The proposed technique uses the Gaussian mixture model(GMM) to represent multi-colored objects and the expectation maximization(EM) algorithm is employed to estimate the maximum likelihood(ML) parameters of the model. After image segmentation is performed based on GMM, the shape and color features are extracted from each object using Fourier descriptors and color histograms, respectively. Image retrieval consists of two steps: first, the shape-based query is carried out to find the candidate images whose objects have the similar shapes with the query image and second, the color-based query is followed. The experimental results show that the proposed algorithm is effective in image retrieving by using the spatial and visual features of segmented objects.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.4
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• pp.327-332
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• 2002

The main problems of computational complexity in object tracking are definition of objects, segmentations and identifications in non-structured environments with erratic movements and collisions of objects. The object's information as a region that corresponds to objects without discriminating among objects are considered. This paper describes the algorithm that, automatically and efficiently, recognizes and keeps tracks of interest-regions selected by users in video or camera image sequences. The block-based feature matching method is used for the region tracking. This matching process considers only dominant feature points such as corners and curved-edges without requiring a pre-defined model of objects. Experimental results show that the proposed method provides above 96% precision for correct region matching and real-time process even when the objects undergo scaling and 3-dimen-sional movements In successive image sequences.

• Journal of the Korean Association of Geographic Information Studies
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• v.7 no.4
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• pp.119-132
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• 2004

As geographic object is consisted of 3-dimensional, it must be appropriated use the 3-dimensional coordinate system to express for exact representation. To define 3-dimensional+temporal object model we extended 3-dimensional space and valid time from object model of OpenGIS consortium that is limited to 2-dimensional space. This methodology guarantees compatibility with other systems to construct with the open model. Also, it permitted administration for two kinds of object by considering both objects whose position and shape changes discretely over time and objects whose position changes continuously. 3-dimensional+temporal object model was implemented by 3-dimensional+temporal object component using OLE/COM techniques. The interfaces of the component defined based on 3-dimensional+temporal object model. To use this component, we implement the data consumer for 3-dimensional+temporal data.

• Journal of Intelligence and Information Systems
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• v.9 no.3
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• pp.99-115
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• 2003

In this paper, we present a knowledge-based object-oriented spatial database system called KOBOS. A knowledge-based approach is introduced to the object-oriented spatial database system for data modeling and approximate query answering. For handling the structure of spatial objects and the approximate spatial operators, we propose three levels of object-oriented data model: (1) a spatial shape model; (2) a spatial object model; (3) an internal description model. We use spatial type abstraction hierarchies(STAHs) to provide the range of the approximate spatial operators. We then propose SOQL, a spatial object-oriented query language. SOQL provides an integrated mechanism for the graphical display of spatial objects and the retrieval of spatial and aspatial objects. To support an efficient hybrid query evaluation, we use the top-down spatial query processing method.

• Proceedings of the Korea Water Resources Association Conference
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• 2012.05a
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• pp.35-35
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• 2012

Most grid-based distributed hydrologic models are complex in terms of data requirements, parameter estimation and computational demand. To address these issues, a simple grid-based hydrologic model is developed in a geographic information system (GIS) environment using storage-release concept. The model is named GIS Storage Release Model (GIS-StoRM). The storage-release concept uses the travel time within each cell to compute howmuch water is stored or released to the watershed outlet at each time step. The travel time within each cell is computed by combining the kinematic wave equation with Manning's equation. The input to GIS-StoRM includes geospatial datasets such as radar rainfall data (NEXRAD), land use and digital elevation model (DEM). The structural framework for GIS-StoRM is developed by exploiting geographic features in GIS as hydrologic modeling objects, which store and process geospatial and temporal information for hydrologic modeling. Hydrologic modeling objects developed in this study handle time series, raster and vector data within GIS to: (i) exchange input-output between modeling objects, (ii) extract parameters from GIS data; and (iii) simulate hydrologic processes. Conceptual and structural framework of GIS StoRM including its application to Pleasant Creek watershed in Indiana will be presented.

• Korean Journal of Geomatics
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• v.4 no.1
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• pp.1-8
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• 2004

In the middle-resolution remote sensing, the Ground Sampled Distance (GSD) that the detector senses and samples is generally larger than the actual size of the objects (or materials) of interest, and so several objects are embedded in a single pixel. In this case, as it is impossible to detect these objects by the conventional spatial-based image processing techniques, it has to be carried out at sub-pixel level through spectral properties. In this paper, we explain the sub-pixel analysis algorithm, also known as the Linear Spectral Mixing (LSM) model, which has been experimented using the Hyperion data. To find Endmembers used as the prior knowledge for LSM model, we applied the concept of the convex geometry on the two-dimensional scatter plot. The Atmospheric Correction and Minimum Noise Fraction techniques are presented for the pre-processing of Hyperion data. As LSM model is the simplest approach in sub-pixel analysis, the results of our experiment is not good. But we intend to say that the sub-pixel analysis shows much more information in comparison with the image classification.

• IEMEK Journal of Embedded Systems and Applications
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• v.19 no.2
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• pp.73-81
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• 2024

Recently, mobile manipulators have been utilized in agriculture industry for weed removal and harvest automation. This paper proposes a domain adaptive fruit detection method for harvest automation, by utilizing OWL-ViT model which is an open-vocabulary object detection model. The vision-language model can detect objects based on text prompt, and therefore, it can be extended to detect objects of undefined categories. In the development of deep learning models for real-world problems, constructing a large-scale labeled dataset is a time-consuming task and heavily relies on human effort. To reduce the labor-intensive workload, we utilized a large-scale public dataset as a source domain data and employed a domain adaptation method. Adversarial learning was conducted between a domain discriminator and feature extractor to reduce the gap between the distribution of feature vectors from the source domain and our target domain data. We collected a target domain dataset in a real-like environment and conducted experiments to demonstrate the effectiveness of the proposed method. In experiments, the domain adaptation method improved the AP50 metric from 38.88% to 78.59% for detecting objects within the range of 2m, and we achieved 81.7% of manipulation success rate.

• Journal of Computational Design and Engineering
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• v.2 no.3
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• pp.183-194
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• 2015

This paper proposes a novel method for visualizing the thickness and clearance of 3D objects in a polyhedral representation. The proposed method uses the distance field of the objects in the visualization. A parallel algorithm is developed for constructing the distance field of polyhedral objects using the GPU. The distance between a voxel and the surface polygons of the model is computed many times in the distance field construction. Similar sets of polygons are usually selected as close polygons for close voxels. By using this spatial coherence, a parallel algorithm is designed to compute the distances between a cluster of close voxels and the polygons selected by the culling operation so that the fast shared memory mechanism of the GPU can be fully utilized. The thickness/clearance of the objects is visualized by distributing points on the visible surfaces of the objects and painting them with a unique color corresponding to the thickness/clearance values at those points. A modified ray casting method is developed for computing the thickness/clearance using the distance field of the objects. A system based on these algorithms can compute the distance field of complex objects within a few minutes for most cases. After the distance field construction, thickness/clearance visualization at a near interactive rate is achieved.