• Journal of KIISE:Computing Practices and Letters
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• v.7 no.5
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• pp.440-450
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• 2001

This paper discusses an effective algorithm which is proposed for abrupt scene change detection in MPEG bitstream. The proposed algorithm restores DC images by decoding only DC coefficients and estimates the new motion vectors between adjacent DC images and detects scene change by similarity measure between frames. The proposed algorithm calculates similarity measure between adjacent frames, i.e motion compensated inter-frame correlation, and detects scene change by comparing this similarity measure with threshold value independent of sequences. Experimental results show that the proposed algorithm has more than 90% \`recall\` and \`precision\` in almost sequences and these results can be considered better than other algorithms using threshold value dependent of sequences.

• Journal of the Semiconductor & Display Technology
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• v.16 no.4
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• pp.30-35
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• 2017

Moving object segmentation from a nonstationary camera is a difficult problem due to the motion of both camera and the object. In this paper, we propose a new confidence-based background subtraction technique from moving camera. The method is based on clustering of motion vectors and generating adaptive multi-homography from a pair of adjacent video frames. The main innovation concerns the use of confidence images for each foreground and background motion groups. Experimental results revealed that our confidence-based approach robustly detect moving targets in sequences taken by a freely moving camera.

• Journal of Broadcast Engineering
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• v.7 no.4
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• pp.317-326
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• 2002

The adaptive coding schemes in H.264 standardization provide a significant ceding efficiency and some additional features like error resilience and network friendliness. The variable block size motion compensation using multiple reference frames is one of the key H.264 coding elements to provide main performance gain, but also the main culprit that increases the overall computational complexity. For this reason, this paper proposes a selective motion estimation algorithm based on variable block size for fast motion estimation in H.264. After we find the SAD(Sum of Absolute Difference) at initial points using diamond search, we decide whether to perform additional motion search in each block. Simulation results show that the proposed method is five times faster than the conventional full search in case of search range $\pm$32.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.79-84
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• 1992

Path planning is an important task for optimal motion of a robot in structured or unstructured environment. The goal of this paper is to plan the optimal collision-free path in 3D, when a robot is navigated to pick up some tools or to repair some parts from various locations. To accomplish the goal, the Path Coordinator is proposed to have the capabilities of an obstacle avoidance strategy and a traveling salesman problem strategy (TSP). The obstacle avoidance strategy is to plan the shortest collision-free path between each pair of n locations in 2D or in 3D. The TSP strategy is to compute a minimal system cost of a tour that is defined as a closed path navigating each location exactly once. The TSP strategy can be implemented by the Hopfield Network. The obstacle avoidance strategy in 2D can be implemented by the VGraph Algorithm. However, the VGraph Algorithm is not useful in 3D, because it can't compute the global optimality in 3D. Thus, the Path Coordinator is used to solve this problem, having the capabilities of selecting the optimal edges by the modified Genetic Algorithm and computing the optimal nodes along the optimal edges by the Recursive Compensation Algorithm.

• Journal of KIISE:Software and Applications
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• v.32 no.6
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• pp.512-522
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• 2005

In this paper an algorithm of image alignments for constructing seamless mosaics is proposed. After the global alignment has been run, there may still be localized mis-registrations present in the mosaic. Due to mis-registrations, there may be seams in the mosaic, such as breaking, blurring, and doubling of lines. To solve this problem, we need an algorithm of residual motion estimation, which minimizes mis-registrations. In the conventional algorithms of residual motion estimation, computational powers are too heavy and estimators of camera parameters are additionally needed such as focal lengths. In the proposed algorithm, residual motion vectors are estimated with the adequate size of estimation and measurement windows and with adjustment of initial vectors according to the established priority. By construction of mosaics with the proposed algorithm, we demonstrate the removal of seams by mis-registrations.

• Journal of the Institute of Convergence Signal Processing
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• v.9 no.1
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• pp.18-23
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• 2008

In this paper, we propose the input image selection-method to improve the reconstructed high-resolution (HR) image quality. To obtain ideal super-resolution (SR) reconstruction image, all input images are well-registered. However, the registration is not ideal in practice. Due to this reason, the selection of input images with low registration error (RE) is more important than the number of input images in order to obtain good quality of a HR image. The suitability of a candidate input image can be determined by using statistical and restricted registration properties. Therefore, we propose the proper candidate input Low Resolution(LR) image selection-method as a pre-processing for the SR reconstruction in automatic manner. In video sequences, all input images in specified region are allowed to use SR reconstruction as low-resolution input image and/or the reference image. The candidacy of an input LR image is decided by the threshold value and this threshold is calculated by using the maximum motion compensation error (MMCE) of the reference image. If the motion compensation error (MCE) of LR input image is in the range of 0 < MCE < MMCE then this LR input image is selected for SR reconstruction, else then LR input image are neglected. The optimal reference LR (ORLR) image is decided by comparing the number of the selected LR input (SLRI) images with each reference LR input (RLRI) image. Finally, we generate a HR image by using optimal reference LR image and selected LR images and by using the Hardie's interpolation method. This proposed algorithm is expected to improve the quality of SR without any user intervention.

• Journal of Broadcast Engineering
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• v.9 no.1
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• pp.54-63
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• 2004

A new motion compensated frame Interpolation (MCI) algorithm by block based motion estimation (BME) is proposed. The block for the BME is composed of a large overlapped block for practical object motion estimation (ME) and a small block (which has a coinciding center with the ME-block) for the more precise motion compensated image description. Pixels in the block for the ME are sub-sampled to reduce computational complexity. The proposed method is executed with the various ME-blocks which have different size and sub-sampling ratio, and compared to the conventional method.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.10
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• pp.965-971
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• 2015

This paper suggests a feature point-based Iterative Closest Point (ICP) algorithm to compensate for the disparity error in building a two-dimensional map. The ICP algorithm is a typical algorithm for matching a common object in two different images. In the process of building a two-dimensional map using the laser scanner data, warping and distortions exist in the map because of the disparity between the two sensor values. The ICP algorithm has been utilized to reduce the disparity error in matching the scanned line data. For this matching process in the conventional ICP algorithm, pre-known reference data are required. Since the proposed algorithm extracts characteristic points from laser-scanned data, reference data are not required for the matching. The laser scanner starts from the right side of the mobile robot and ends at the left side, which causes disparity in the scanned line data. By finding the matching points between two consecutive frame images, the motion vector of the mobile robot can be obtained. Therefore, the disparity error can be minimized by compensating for the motion vector caused by the mobile robot motion. The validity of the proposed algorithm has been verified by comparing the proposed algorithm in terms of map-building accuracy to conventional ICP algorithm real experiments.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.14 no.1
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• pp.26-33
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• 2014

This study addresses the control problem of an unmanned aerial vehicle (UAV) during the transition period when the flying mode changes from hovering to translational motion in the horizontal plane. First, we introduce a compensation algorithm that improves height stabilization and reduces altitude drop. The main principle is to incorporate pitch and roll measurements into the feedforward term of the altitude controller to provide a larger thrust force. To further improve altitude control, we propose the fuzzy logic controller that improves system behavior. Simulation results presented in the paper highlight the effectiveness of the proposed controllers.

• ETRI Journal
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• v.31 no.1
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• pp.21-30
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• 2009

In low bit-rate video transmission, the payload of a single packet can often contain a whole coded frame due to the high compression ratio in both spatial and temporal domains of most modern video coders. Thus, the loss of a single packet not only causes the loss of a whole frame, but also produces error propagation into subsequent frames. In this paper, we propose a novel whole frame error concealment algorithm which reconstructs the first of the subsequent frames instead of the current lost frame to suppress the effects of error propagation. In the proposed algorithm, we impose a constraint which uses side match distortion (SMD) and overlapped region difference (ORD) to estimate motion vectors between the target reconstructed frame and its reference frame. SMD measures the spatial smoothness connection between a block and its neighboring blocks. ORD is defined as the difference between the correlated pixels which are predicted from one reference pixel. Experimental results show that the proposed algorithm effectively suppresses error propagation and significantly outperforms other conventional techniques in terms of both peak signal-to-noise ratio performance and subjective visual quality.