• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.12
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• pp.2365-2370
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• 2017

In this paper, we propose a motion and position recognition technique considering an experiential VR environment. Motion recognition attaches a plurality of AHRS devices to a body part and defines a coordinate system based on this. Based on the 9 axis motion information measured from each AHRS device, the user's motion is recognized and the motion angle is corrected by extracting the joint angle between the body segments. The location recognition extracts the walking information from the inertial sensor of the AHRS device, recognizes the relative position, and corrects the cumulative error using the BLE fingerprint. To realize the proposed motion and position recognition technique, AHRS-based position recognition and joint angle extraction test were performed. The average error of the position recognition test was 0.25m and the average error of the joint angle extraction test was $3.2^{\circ}$.

• Journal of Sensor Science and Technology
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• v.25 no.3
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• pp.202-207
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• 2016

Estimation of vertical position is critical in applications of sports science and fall detection and also controls of unmanned aerial vehicles and motor boats. Due to low accuracy of GPS(global positioning system) in the vertical direction, the integration of IMU(inertial measurement unit) with the GPS is not suitable for the vertical position estimation. This paper investigates an IMU-barometer integration for estimation of vertical position (as well as vertical velocity). In particular, a new two-step Kalman/complementary filter is proposed for accurate and efficient estimation using 6-axis IMU and barometer signals. The two-step filter is composed of (i) a Kalman filter that estimates vertical acceleration via tilt orientation of the sensor using the IMU signals and (ii) a complementary filter that estimates vertical position using the barometer signal and the vertical acceleration from the first step. The estimation performance was evaluated against a reference optical motion capture system. In the experimental results, the averaged estimation error of the proposed method was 19.7 cm while that of the raw barometer signal was 43.4 cm.

• International Journal of Ocean System Engineering
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• v.2 no.4
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• pp.223-232
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• 2012

For the accurate estimation of the position and orientation of a UUV (unmanned underwater vehicle), a low-cost AHRS (attitude heading reference system) was developed using a low-cost IMU (inertial measurement unit) sensor which provides information on the 3D acceleration, 3D turning rate and 3D earth-magnetic field data in the object coordinate system. The main hardware system is composed of an IMU sensor (ADIS16405) and TMS320F28335, which is coded with an extended kalman filter algorithm with a 50-Hz sampling frequency. Through an experimental gimbal device, good estimation performance for the pitch, roll, and yaw angles of the developed AHRS was verified by comparing to those of a commercial AHRS called the MTi system. The experimental results are here presented and analyzed.

• IEIE Transactions on Smart Processing and Computing
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• v.5 no.4
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• pp.231-234
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• 2016

The next-generation video coding standard known as High-Efficiency Video Coding (HEVC) was developed with the aim of doubling the bitrate reduction offered by H.264/Advanced Video Coding (AVC) at the expense of an increase in computational complexity. Mode decision with motion estimation is still one of the most time-consuming computations in HEVC, as it is with H.264/AVC. Several schemes for a fast mode decision have been presented in reference software and in other studies. However, a possible speed-up in conventional schemes is sometimes insignificant for videos that have inhomogeneous spatial and temporal characteristics. This paper proposes a bypass algorithm to skip large-block-size predictions for videos where small block sizes are preferred over large ones. The proposed algorithm does not overlap with those in previous works, and thus, is easily used with other fast algorithms. Consequently, an independent speed-up is possible.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.6
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• pp.145-155
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• 2013

In this paper, we proposed a $4{\times}4$ block parallel architecture of interpolation for high-performance H.264/AVC Fractional Motion Estimation in 8K UHD($7680{\times}4320$) video real time processing. To improve throughput, we design $4{\times}4$ block parallel interpolation. For supplying the $10{\times}10$ reference data for interpolation, we design 2D cache buffer which consists of the $10{\times}10$ memory arrays. We minimize redundant storage of the reference pixel by applying the Search Area Stripe Reuse scheme(SASR), and implement high-speed plane interpolator with 3-stage pipeline(Horizontal Vertical 1/2 interpolation, Diagonal 1/2 interpolation, 1/4 interpolation). The proposed architecture was simulated in 0.13um standard cell library. The gate count is 436.5Kgates. The proposed H.264/AVC Fractional Motion Estimation can support 8K UHD at 30 frames per second by running at 187MHz.

• Journal of Navigation and Port Research
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• v.37 no.6
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• pp.575-580
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• 2013

The IMU(Inertial Measurement Unit) which is the expensive equipment has been used as a special limited area, usually in measurement of posture of applying to the areas of ship, submarine, aircraft and military equipment application. However, in the current situation, MEMS AHRS technology can replace the high-priced IMU in MEMS AHRS selected application field. In this paper, wireless hull motion measurement system was suggested for measuring key elements of ship's movement such as rolling, pitching and yawing using gyro, acceleration and magnetic sensors of AHRS. In order to reduce the error such as instantaneous acceleration, effects and vibration of geomagnetic, we have adopted the sensors equipped with Kalman filtering. The Wireless hull motion measurement system using AHRS sensors was tested in actual ship and it could easily be applied in limited installation circumstances of the ship. In the future, this system can be useful in the navigation safety and marine accident analysis by using with ship equipment such as INS or VDR in the maritime.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.9
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• pp.5440-5445
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• 2014

Many studies have examined robot control using human bio signals but complicated signal processing and expensive hardware are necessary. This study proposes a method to recognize a human's hand motion using a low-cost EMG sensor and Flex sensor. The method to classify movement of the hand and finger is determined from the change in output voltage measured through MCU. The analog reference voltage is determined to be 3.3V to increase the resolution of movement identification through experiment. The robotic hand is designed to realize the identified movement. The hand has four fingers and a wrist that are controlled using pneumatic cylinders and a DC servo motor, respectively. The results show that the proposed simple method can realize human hand motion in a remote environment using the fabricated robotic hand.

• Journal of Broadcast Engineering
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• v.21 no.4
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• pp.578-591
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• 2016

In this paper, the fast encoding algorithm in High Efficiency Video Coding (HEVC) encoder was studied. For the encoding efficiency, the current HEVC reference software is divided the input image into Coding Tree Unit (CTU). then, it should be re-divided into CU up to maximum depth in form of quad-tree for RDO (Rate-Distortion Optimization) in encoding precess. But, it is one of the reason why complexity is high in the encoding precess. In this paper, to reduce the high complexity in the encoding process, it proposed the method by determining the maximum depth of the CU using a hierarchical clustering at the pre-processing. The hierarchical clustering results represented an average combination of motion vectors (MV) on neighboring blocks. Experimental results showed that the proposed method could achieve an average of 16% time saving with minimal BD-rate loss at 1080p video resolution. When combined the previous fast algorithm, the proposed method could achieve an average 45.13% time saving with 1.84% BD-rate loss.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.3
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• pp.1195-1211
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• 2016

The emerging video coding standard High Efficiency Video Coding (HEVC) has shown almost 40% bit-rate reduction over the state-of-the-art Advanced Video Coding (AVC) standard but at about 40% computational complexity overhead. The main reason for HEVC computational complexity is the inter prediction that accounts for 60%-70% of the whole encoding time. In this paper, we propose several fast coding unit (CU) encoding schemes based on the Merge mode and motion estimation information to reduce the computational complexity caused by the HEVC inter prediction. Firstly, an early Merge mode decision method based on motion estimation (EMD) is proposed for each CU size. Then, a Merge mode based early termination method (MET) is developed to determine the CU size at an early stage. To provide a better balance between computational complexity and coding efficiency, several fast CU encoding schemes are surveyed according to the rate-distortion-complexity characteristics of EMD and MET methods as a function of CU sizes. These fast CU encoding schemes can be seamlessly incorporated in the existing control structures of the HEVC encoder without limiting its potential parallelization and hardware acceleration. Experimental results demonstrate that the proposed schemes achieve 19%-46% computational complexity reduction over the HEVC test model reference software, HM 16.4, at a cost of 0.2%-2.4% bit-rate increases under the random access coding configuration. The respective values under the low-delay B coding configuration are 17%-43% and 0.1%-1.2%.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2012.11a
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• pp.163-166
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• 2012

본 논문에서는 차세대 비디오 표준인 High Efficiency Video Coding(HEVC)의 영상 부호화 과정의 시간복잡도 감소를 위한 효율적인 Prediction Unit(PU)레벨 움직임예측(Motion Estimation, ME) 병렬화의 구현 기법을 제시하고자 한다. 움직임예측 과정은 부호화기에서 80%의 복잡도를 차지하는 과정으로 고속 부호화의 걸림돌이 되고 있다. 이를 해결하기 위한 방법으로 제안된 것이 움직임예측 알고리즘의 병렬화이다. 알고리즘 수준에서 ME 의 일부인 Merge Estimation 의 병렬화를 위해서 Merge Estimation Region (MER)기반의 ME 방법이 제안되었다. 하지만 HEVC Test Model reference software(HM)에 반영된 MER 을 이용하여 실제로 병렬화된 ME 를 구현하는 과정에서는 알고리즘 측면에서 아직 고려되지 않은 문제들이 존재한다. 이에 본 논문에서는 MER 을 사용한 안정적인 병렬 ME 를 구현하기 위한 전략으로 각 PU 의 정보를 독립적으로 사용하기 위한 부분 순차화 방법과 메모리 접근제한을 이용한 병렬화 방법을 제시한다. 실험을 통해 본 연구의 우수성이 확인되었는데, 제안된 방법에 기반을 둔 구현에서 순차적인 ME 를 이용한 부호화기 대비 평균 25.64%의 전체 부호화 과정 시간의 감소가 나타났다.