• Advances in robotics research
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• 제2권2호
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• pp.129-140
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• 2018

With the increasing demand for the development of human pose estimation, such as human-computer interaction and human activity recognition, there have been numerous approaches to detect the 2D poses of people in images more efficiently. Despite many years of human pose estimation research, the estimation of human poses with images remains difficult to produce satisfactory results. In this study, we propose a robust 2D human body pose estimation method using an RGB camera sensor. Our pose estimation method is efficient and cost-effective since the use of RGB camera sensor is economically beneficial compared to more commonly used high-priced sensors. For the estimation of upper-body joint positions, semantic segmentation with a fully convolutional network was exploited. From acquired RGB images, joint heatmaps accurately estimate the coordinates of the location of each joint. The network architecture was designed to learn and detect the locations of joints via the sequential prediction processing method. Our proposed method was tested and validated for efficient estimation of the human upper-body pose. The obtained results reveal the potential of a simple RGB camera sensor for human pose estimation applications.

• International Journal of Automotive Technology
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• 제3권2호
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• pp.71-78
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• 2002

A new control method far vision-based autonomous vehicle is proposed to determine navigation direction by analyzing lane information from a camera and to navigate a vehicle. In this paper, characteristic featured data points are extracted from lane images using a lane recognition algorithm. Then the vehicle is controlled using new Levenberg-Marquardt neural network algorithm. To verify the usefulness of the algorithm, another algorithm, which utilizes the geometric relation of a camera and vehicle, is introduced. The second one involves transformation from an image coordinate to a vehicle coordinate, then steering is determined from Ackermann angle. The steering scheme using Ackermann angle is heavily depends on the correct geometric data of a vehicle and a camera. Meanwhile, the proposed neural network algorithm does not need geometric relations and it depends on the driving style of human driver. The proposed method is superior than other referenced neural network algorithms such as conjugate gradient method or gradient decent one in autonomous lateral control .

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.250-255
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• 2003

The position of a 3-dimensional(3D) point can be measured by using calibrated stereo camera. To obtain more accurate measurement ,more accurate camera calibration is required. There are many existing methods to calibrate camera. The simple linear methods are usually not accurate due to nonlinear lens distortion. The nonlinear methods are accurate more than linear method, but it increase computational cost and good initial guess is needed. The multi step methods need to know some camera parameters of used camera. Recent years, these explicit model based camera calibration work with the development of more precise camera models involving correction of lens distortion. But these explicit model based camera calibration have disadvantages. So implicit camera calibration methods have been derived. One of the popular implicit camera calibration method is to use neural network. In this paper, we propose implicit stereo camera calibration method for 3D reconstruction using support vector machine. SVM can learn the relationship between 3D coordinate and image coordinate, and it shows the robust property with the presence of noise and lens distortion, results of simulation are shown in section 4.

• 방송공학회논문지
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• 제23권5호
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• pp.614-621
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• 2018

본 논문에서는 generative adversarial network (GAN)을 이용한 비감독 학습을 통해 깊이 카메라로 깊이 영상을 취득할 때 발생한 손실된 부분을 복원하는 기법을 제안한다. 제안하는 기법은 3D morphable model convolutional neural network (3DMM CNN)와 large-scale CelebFaces Attribute (CelebA) 데이터 셋 그리고 FaceWarehouse 데이터 셋을 이용하여 학습용 얼굴 깊이 영상을 생성하고 deep convolutional GAN (DCGAN)의 생성자(generator)와 Wasserstein distance를 손실함수로 적용한 구별자(discriminator)를 미니맥스 게임기법을 통해 학습시킨다. 이후 학습된 생성자와 손실 부분을 복원해주기 위한 새로운 손실함수를 이용하여 또 다른 학습을 통해 최종적으로 깊이 카메라로 취득된 얼굴 깊이 영상의 손실 부분을 복원한다.

• 스마트미디어저널
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• 제12권3호
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• pp.49-59
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• 2023

차세대 무선 통신기술로 알려져 있는 Optical Camera Communication(OCC)은 많은 연구가 진행 되고 있다. 이러한 OCC 기술은 통신 환경에 의해 성능이 좌우되며 이를 개선하기 위해 다양한 전략이 연구되고 있다. 그중 가장 두각을 나타내고 있는 방법은 딥러닝 기술을 사용하여 OCC의 수신기에 CNN을 적용하는 방법이다. 하지만 대부분의 연구에서는 CNN을 단순히 송신기를 검출하는데 사용하고 있다. 본 논문에서는 CNN을 송신기 검출 뿐만 아니라 Rx 복조 시스템에 적용하여 실험한다. 그리고 OCC 시스템의 데이터 이미지는 다른 이미지 데이터셋과는 다르게 비교적 분류가 간단하기 때문에 대부분의 CNN 모델에서 높은 정확도의 결과가 나타날 것이라는 가설을 세웠다. 가설을 증명하기 위해 OCC 시스템을 설계 및 구현하여 데이터를 수집하였고 12가지의 다양한 CNN 모델에 적용하여 실험했다. 실험 결과 파라미터수가 많은 고성능의 CNN 모델 뿐만 아니라 경량화 CNN 모델에서도 99% 이상의 정확도를 달성하였고 이를 통해 스마트폰과 같은 저성능 계산 장치에 OCC 시스템 적용이 가능함을 확인했다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.644-647
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• 2003

This paper describes a neural network based machine vision system designed for inspecting yellow beans in real time. The system consists of a camera. lights, a belt conveyor, air ejectors, and a computer. Beans are conveyed in four lines on a belt and their images are taken by a monochrome line scan camera when they fall down from the belt. Beans are separated easily from their background on images by back-lighting. After analyzing the image, a decision is made by a multilayer artificial neural network (ANN) trained by the error back-propagation (EBP) algorithm. We use the global mean, variance and local change of gray levels of a bean for the input nodes of the network. In an our experiment, the system designed could process about 520kg/hour.

• 로봇학회논문지
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• 제4권4호
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• pp.312-319
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• 2009

This paper proposes a low-complexity indoor localization method of mobile robot under the dynamic environment by fusing the landmark image information from an ordinary camera and the distance information from sensor nodes in an indoor environment, which is based on sensor network. Basically, the sensor network provides an effective method for the mobile robot to adapt to environmental changes and guides it across a geographical network area. To enhance the performance of localization, we used an ordinary CCD camera and the artificial landmarks, which are devised for self-localization. Experimental results show that the real-time localization of mobile robot can be achieved with robustness and accurateness using the proposed localization method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.874-879
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• 1992

It is shown that there exists a nonlinear mappping which transforms features and their changes to the desired camera motion without measurement of the relative distance between the camera and the part, and the nonlinear mapping can eliminate several difficulties encountered when using the inverse of the feature Jacobian as in the usual feature-based visual feedback controls. And instead of analytically deriving the closed form of such a nonlinear mapping, a fuzzy membership function (FMF) based neural network is then proposed to approximate the nonlinear mapping, where the structure of proposed networks is similar to that of radial basis function neural network which is known to be very useful in function approximations. The proposed FMF network is trained to be capable of tracking moving parts in the whole work space along the line of sight. For the effective implementation of proposed IMF networks, an image feature selection processing is investigated, and required fuzzy membership functions are designed. Finally, several numerical examples are illustrated to show the validities of our proposed visual servoing method.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.606-609
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• 2001

This paper's purpose is to obtain 3-Dimension information by using a monocular camera. This system embodies to obtain the height of object by using trigonometry method between a reference point of circumstance and an object. It is possible to build up system regardless of operating system, and then set it up. An comfortable USB port camera is used everywhere without the capture board. The internet can be used by using the applet and JMF everywhere. We regard the camera as a fixed. And we have developed a Real-Time JPEG/RTP Network Camera system using UDP/IP on Ethernet.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 신호처리소사이어티 추계학술대회 논문집
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• pp.417-420
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• 2003

Most Embedded Web Camera Server products currently deployed on the market adopt JPEG for compression of video data continuously acquired from the cameras. However, JPEG does not efficiently compress the continuous video stream, and is not appropriate for the Internet where the transmission bandwidth is not guaranteed. In our previous work, we presented the result of designing and implementing an embedded web camera streaming server using MPEG4 codec. But the server in our previous work did not show good performance since one CPU had to both compress and process the network transmission. In this paper, we present our efforts to improve our previous result by using dual CPUs, where DSP is employed for data compression and StrongARM is used for network processing. Better performance has been observed, but it is found that still more time is needed to optimize the performance.