• 방송공학회논문지
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• 제7권4호
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• pp.317-326
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• 2002

기존 비디오 압축 기술에 비해 높은 부호화 효율 덴 추가적으로 오류내성, 네트워크 친화성 등의 특성을 지닌 H.264 표준안 부호화 기술 가운데, 복수개 참조 영상을 이용하여 다양한 블록 크기로 움직임 보상하는 기법은 높은 부호화 효율을 갖게 하는 주 요인임과 동시에 높은 복잡도를 갖게 하는 원인으로 작용한다. 이러한 움직임 보상의 복잡도를 줄이기 위해 본 논문에서는 다양한 블록 크기에 대한 선택적 움직임 추정 알고리즘을 제안하고자 한다. 제안된 기법에서는 먼저 다이아몬드 탐색 기법을 이용해 초기 위치 지점에 대해 SAD(Sum of Absolute Difference)를 구하고 이를 기반으로 움직임 추정을 추가적으로 수행할 것인가를 각 블록 크기 단위로 결정하게 된다. 실험 결과, 움직임 탐색 영역을 $\pm$32로 하였을 경우 제안 기법은 기존의 전역 탐색(Full Search)에 비해 약 5배 정도 속도 향상을 보였다.

• ETRI Journal
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• 제25권6호
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• pp.489-502
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• 2003

This paper presents an MPEG-4 video codec, called MoVa, for video coding applications that adopts 3G-324M. We designed MoVa to be optimal by embedding a cost-effective ARM7TDMI core and partitioning it into hardwired blocks and firmware blocks to provide a reasonable tradeoff between computational requirements, power consumption, and programmability. Typical hardwired blocks are motion estimation and motion compensation, discrete cosine transform and quantization, and variable length coding and decoding, while intra refresh, rate control, error resilience, error concealment, etc. are implemented by software. MoVa has a pipeline structure and its operation is performed in four stages at encoding and in three stages at decoding. It meets the requirements of MPEG-4 SP@L2 and can perform either 30 frames/s (fps) of QCIF or SQCIF, or 7.5 fps (in codec mode) to 15 fps (in encode/decode mode) of CIF at a maximum clock rate of 27 MHz for 128 kbps or 144 kbps. MoVa can be applied to many video systems requiring a high bit rate and various video formats, such as videophone, videoconferencing, surveillance, news, and entertainment.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 하계종합학술대회 논문집
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• pp.679-684
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• 1989

In this paper, we describe the PTP notion of robot manipulators by neural networks. The PTP motion requires the inverse kinematic redline and the joint trajectory generation algorithm. We use the multi-layered Perceptron neural networks and the Error Back Propagation(EBP) learning rule for inverse kinematic problems. Varying the number of hidden layers and the neurons of each hidden layer, we investigate the performance of the neural networks. Increasing the number of learning sweeps, we also discuss the performance of the neural networks. We propose a method for solving the inverse kinematic problems by adding the error compensation neural networks(ECNN). And, we implement the neural networks proposed by Grossberg et al. for automatic trajectory generation and discuss the problems in detail. Applying the neural networks to the current trajectory generation problems, we can refute the computation time for trajectory generation.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2009년도 IWAIT
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• pp.618-622
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• 2009

An improvement of standard encoder has been saturated recently. However, new coding method does not have a compatibility with conventional standard. To solve this problem, new concept coding method that has a semicompatibility with standard may be discussed. On the other hand, cyclic Intra-picture coding is used for access and refreshment. However, I-picture spend large amount of bits. An enhancement of I-picture is desired with keeping its refreshment performance. Further, it's a problem that quality change at the border of GOP because of its independency. To respond these, we propose the coding which is applied an inter-frame processing at the border of GOP. Applied method is the reduction of quantization error using the motion compensated inter-picture processing. In this report, we check the improvement of the efficiency and the compatibility of proposed method. As a result of examination, we recognize that the total gain is maximally 1.2dB in PSNR. Generally, the degradation of performance in standard decoding is smaller than its gain. Also the refreshment performance is tested.

• 정보처리학회논문지B
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• 제9B권5호
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• pp.571-578
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• 2002

인터넷을 통해 동영상을 전송할 때, 네트워크의 상태에 따라 패킷 손실이 발생할 수 있다. 패킷 손실이 발생하면 해당 프레임 뿐 아니라, 그 프레임을 참조하는 다른 프레임의 화질에도 영향을 미치는 오류전파가 발생한다. 본 논문에서는 전송 중 패킷 손실로 인한 오류전파를 최소화하기 위한 부호화 기법인 AMV(Auxiliary Motion Vector)를 제안한다. AMV 기법에서 부호기는 한 개의 매크로블록을 압축하기 위해 여러 프레임과의 움직임 예측을 수행한 후, 상위 두 개의 매칭블록을 선택한다. 두 블록 중 압축 대상 매크로블록과 더 유사한 블록을 움직임 보상에 이용하며 이 블록을 참조블록 또는 기본블록이라 한다. 나머지 블록을 보조블록이라 하며 참조블록이 손실된 경우 복호기가 참조블록의 대체용으로 이용한다. 보조블록의 정보는 압축된 매크로블록의 헤더에 블록의 모션벡터와 프레임 번호를 삽입함으로써 전송된다. 이 기법은 다른 기법에 비해 압축에 이용되는 참조블록의 수를 최소화하고 보조블록을 이용하여 오류를 요구함으로써 오류전파가 발생하는 범위와 그 강도를 줄이는 장점이 있다. 제안된 기법의 코덱을 구현하기 위해 H.263 표준 소스를 수정하였으며, 다양한 패킷 손실율의 트레이스를 생성하기 위해 시뮬레이션 툴인 NS-2를 이용하였다. 실험 결과 제안된 기법은 전체적으로 H.253 표준에 비하여 높은 성능을 나타냈으며 특히 화면의 변화가 적은 경우 패킷 손실율이 높을수록, 변화가 심한 경우 패킷 손실율이 낮을수록 높은 성능을 나타내었다.

• 제어로봇시스템학회논문지
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• 제21권10호
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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.

• 전자공학회논문지B
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• 제30B권7호
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• pp.14-23
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• 1993

This paper proposes an algorithm to reduce the bitrate for transmission of MCP(motion compensated prediction) error signals. Many digital image coders have recently employed hybrid coding schemes which perform motion compensation, DCT transform, quantization, and variable length coding. The variable length coding compresses the quantized DCT coefficient data by removing their statistical redundancy. But some DCT blocks have the interblock statistical redundancy as well as the intrablock one. To utilize both of them, the DCT blocks are classified into the interleaving group and the non-interleaving group. And then each DCT blocks in the interleaving group are is encoded independently, and the DCT blocks in the interleaving group are encoded after interleaving the DCT coefficients. Through the simulations, it is shown that the proposed method outperforms the conventional method in which each DCT block is encoded independently.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2005년도 Proceedings of ISRS 2005
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• pp.91-94
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• 2005

A numerical formula that presents relationship between a point of a satellite image and its ground position is called a sensor model. For precise geolocation of satellite images, we need an error-free sensor model. However, the sensor model based on GOES ephemeris data has some error, in particular after Image Motion Compensation (IMC) mechanism has been turned off. To solve this problem, we investigate three sensor models: Collinearity model, Direct Linear Transform (DLT) model and Orbit-based model. We apply matching between GOES images and global coastline database and use successful results as control points. With control points we improve the initial image geolocation accuracy using the three models. We compare results from three sensor models that are applied to GOES-9 images. As a result, a suitable sensor model for precise geolocation of GOES-9 images is proposed.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.530-536
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• 2004

In this paper a servo-system is developed to improve straightness of linear motor stages. When a linear motor stage is used for high-precision linear motion systems, high precision straightness accuracy is necessary to meet the required position accuracy. In such cases, machining and assembling cost increases to improve the straightness accuracy. An electro-magnetic actuator which is relatively cost effective than any other conventional servo-systems is suggested to compensate the fixed straightness error. To overcome the compensation error due to the friction, a sliding mode control is applied. The effectiveness of the suggested mechanism and the control performance are illustrated along with some experimental results.

• 한국공작기계학회논문집
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• 제13권4호
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• pp.30-36
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• 2004

The development of LD(Laser Diode) tester and its control system based on the graphical programming language(LabVIEW) is addressed. The ill tester is used to check the optic power and the optic spectrum of the LD Chip. The emitter size of LD chip and the diameter of the Detector(optic fiber and photo diode) are very small, therefore the test device needs high accuracy. But each motion part of the test device could not accomplish high accuracy due to the limit of the mechanical performance. So, an image processing with machine vision is proposed to compensate for the error. By adopting our method we can reduce the error of position within $\pm$5$\mu\textrm{m}$.