• Journal of the Korean Institute of Telematics and Electronics C
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• v.34C no.10
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• pp.67-75
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• 1997

A design for a system to perform rapid recognition of three dimensional objects is presented, focusing on efficient indexing. In order to retrieve the best matched models without exploring all possible object matches, we have employed a bayesian framework. A decision-theoretic measure of the discriminatory power of a feature for a model object is defined in terms of posterior probability. Detectability of a featrue defined as a function of the feature itselt, viewpoint, sensor charcteristics, nd the feature detection algorithm(s) is also considered in the computation of discribminatory power. In order to speed up the indexing or selection of correct objects, we generate and verify the object hypotheses for rfeatures detected in a scene in the order of the discriminatory power of these features for model objects.

• The Transactions of the Korea Information Processing Society
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• v.7 no.4
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• pp.1271-1278
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• 2000

A general curve and surface is a basic method to generate Free-form object using the fundamental properties of blending function. In typical method, there is an overhead of calculating to present Free-form object with the line segments and interpolation algorithm, In this paper, for resolving this problem efficiently, it will propose the flexible Free-form curves/surfaces using Ball curve shape-preserving property. This method includes Geometric Continuity that is needed to design Free-form Surface of high degree consisted with many curves. Also, when lots of data are reduced using Geometric Property of Free-form curves, the shape-preserving property of resulting object can be maintained, then it can represent any Free-form object with less calculating .

• Transactions of the Korean Society of Mechanical Engineers
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• v.12 no.1
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• pp.173-182
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• 1988

A program for drawing of penetrating lines was developed in personal computer. PROLOG, a language of Artificial Intelligence, was used and a data structure using relational data base was designed. An algorithm for finding the penetrating lines in the real space was developed. The program can be applied at any types of penetrating problems like curve-surface, surface-surface, curve-object, surface-object, object-object, etc. In developing the program, the following results were obtained. (1) Relational data base built in PROLOG and the function of backtracking are helpful in Computer Graphics. (2) In spite of increasing the number of edges, assigning direction to the edges makes it possible to represent the polygon meshes as the non ordered sets of directional half edges. (3) Topologicaly the penetrating lines of a polygon can be represented as the edge-pairs in the edge list of the polygon,

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.339-340
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• 2007

This paper proposes a object avoidance algorithm that enables a mobile robot with laser scanner. Object detecting system has a function to detect object in front of the mobile robot by using a laser scanner. The proposed method based on probability distribution and finds local-paths to avoid collisions. Simulation results show the feasibility of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.221-225
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• 1998

This paper is to present a method for recognizing an image of a tracking object by processing the image from a camera, whose attitude is controlled in inertial space with inertial co-ordinate system. In order to recognize an object, a pseudo-random M-array is attached on the object and it is observed by the camera which is controlled on inertial coordinate basis by inertial stabilization unit. When the attitude of the camera is changed, the observed image of M-array is transformed by use of affine transformation to the image in inertial coordinate system. Taking the cross-correlation function between the affine-transformed image and the original image, we can recognize the object. As parameters of the attitude of the camera, we used the azimuth angle of camera, which is de-fected by gyroscope of an inertial sensor, and elevation an91e of camera which is calculated from the gravitational acceleration detected by servo accelerometer.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.5
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• pp.697-704
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• 2003

In this paper, the visual tracking system for arbitrary shaped moving object is proposed. The established tracking system can be divided into model based method that needs previous model for target object and image based method that uses image feature. In the model based method, the reliable tracking is possible, but simplification of the shape is necessary and the application is restricted to definite target mod el. On the other hand, in the image based method, the process speed can be increased, but the shape information is lost and the tracking system is sensitive to image noise. The proposed tracking system is composed of the extraction process that recognizes the existence of moving object and tracking process that extracts dynamic characteristics and shape information of the target objects. Specially, active contour model is used to effectively track the object that is undergoing shape change. In initializatio n process of the contour model, the semi-automatic operation can be avoided and the convergence speed of the contour can be increased by the proposed effective initialization method. Also, for the efficient solution of the correspondence problem in multiple objects tracking, the variation function that uses the variation of position structure in image frame and snake energy level is proposed. In order to verify the validity and effectiveness of the proposed tracking system, real time tracking experiment for multiple moving objects is implemented.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.41 no.5
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• pp.153-163
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• 2004

This paper presents a video tracking method for a deformable moving object using an active contour model in the image sequences. It is quite important to decide the local convergence directions of the contour points for correctly extracting the boundary of the moving object with deformable shape. For this purpose, an energy function for the active contour model is newly proposed by adding a directional energy term using a frame difference map to tile Greedy algorithm. In addition, an updating rule of tile frame difference map is developed to encourage the stable convergence of the contour points. Experimental results on a set of synthetic and real image sequences showed that the proposed method can fully track the deformable object while extracting the boundary of the object elaborately in every frame.

• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.490-492
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• 1998

An intention of this paper is design of a gyro actuator for the attitude control of an unstructured object. It is well known that the attitude control of an object hanging with wire is not easy using usual actuators. Even though an actuator such as a pan can be used for control of the object, it is difficult to meet a desired control objectives. We, for this reason, propose a gyro actuator for the attitude control of an unstructured object. The proposed gyro actuator consists of two motors. The first motor is responsible to spin the wheel and the second motor is used to turn the outer gimbal. Appling the torque to the second motor, which results in the turn of the outer gimbal, torque about the vertical axis will be obtained while a wheel of the gyro is spinning constantly. This torque is used to control the attitude of the object attached. The aim of this paper is of deriving the transfer function of the actuator and presenting the guideline of the design parameters such as the weight and the dimension of the wheel, motors, and the load capacity. Simulations to the mathematical model which has a state feedback control are conducted to show the validity of the proposed gyro actuator.

• Journal of Korea Multimedia Society
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• v.24 no.2
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• pp.305-311
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• 2021

One of the highly reliable object tracking methods is to trace objects by associating objects detected by deep learning. The detected object is represented by a rectangular box. The box has information such as location and size. Since the tracker has motion information of the object in addition to the location and size, knowing additional information about the motion of the detected box can increase the reliability of object tracking. In this paper, we present a new method of reliably estimating the moving direction of the detected object in underground parking lot. First, the frame difference image is binarized for detecting motion energy, change due to the object motion. Then, a cumulative binary image is generated that shows how the motion energy changes over time. Next, the moving direction of the detected box is estimated from the accumulated image. We use a new cost function to accurately estimate the direction of movement of the detected box. The proposed method proves its performance through comparative experiments of the existing methods.

• Honam Mathematical Journal
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• v.32 no.3
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• pp.389-397
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• 2010

Exton introduced 20 distinct triple hypergeometric functions whose names are Xi (i = 1,$\ldots$, 20) to investigate their twenty Laplace integral representations whose kernels include the confluent hypergeometric functions $_0F_1$, $_1F_1$, a Humbert function $\Psi_2$, a Humbert function $\Phi_2$. The object of this paper is to present 25 (presumably new) integral representations of Euler types for the Exton hypergeometric function $X_5$ among his twenty $X_i$ (i = 1,$\ldots$, 20), whose kernels include the Exton function X5 itself, the Exton function $X_6$, the Horn's functions $H_3$ and $H_4$, and the hypergeometric function F = $_2F_1$.