• 한국정보통신학회논문지
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• 제18권11호
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• pp.2733-2737
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• 2014

실시간 영상을 이용하여 움직임 검출을 하는데 사용하는 배경 차영상 기법에 의한 움직임 및 변화 영역 검출 방법과 움직임 히스토리에 의한 움직임 검출법, 광류에 의한 움직임 검출법, 움직임 추적을 위한 추적하려는 물체의 히스토그램의 역투영을 이용하면서 물체의 중심점을 추적하는 MeanShift와 물체의 중심, 크기, 방향을 함께 추적하는 CamShift, Kalman 필터에 의한 움직임 추적 알고리즘 등이 있다. 본 논문에서는 물체의 색상과 모양 정보를 이용한 움직임 검출 알고리즘을 구현하고 검증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.383-388
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• 2005

Depth recovery in robot vision is an essential problem to infer the three dimensional geometry of scenes from a sequence of the two dimensional images. In the past, many studies have been proposed for the depth estimation such as stereopsis, motion parallax and blurring phenomena. Among cues for depth estimation, depth from lens translation is based on shape from motion by using feature points. This approach is derived from the correspondence of feature points detected in images and performs the depth estimation that uses information on the motion of feature points. The approaches using motion vectors suffer from the occlusion or missing part problem, and the image blur is ignored in the feature point detection. This paper presents a novel approach to the defocus technique based depth from lens translation using sequential SVD factorization. Solving such the problems requires modeling of mutual relationship between the light and optics until reaching the image plane. For this mutuality, we first discuss the optical properties of a camera system, because the image blur varies according to camera parameter settings. The camera system accounts for the camera model integrating a thin lens based camera model to explain the light and optical properties and a perspective projection camera model to explain the depth from lens translation. Then, depth from lens translation is proposed to use the feature points detected in edges of the image blur. The feature points contain the depth information derived from an amount of blur of width. The shape and motion can be estimated from the motion of feature points. This method uses the sequential SVD factorization to represent the orthogonal matrices that are singular value decomposition. Some experiments have been performed with a sequence of real and synthetic images comparing the presented method with the depth from lens translation. Experimental results have demonstrated the validity and shown the applicability of the proposed method to the depth estimation.

• 로봇학회논문지
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• 제8권4호
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• pp.266-272
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• 2013

Facial feature extraction and tracking are essential steps in human-robot-interaction (HRI) field such as face recognition, gaze estimation, and emotion recognition. Active shape model (ASM) is one of the successful generative models that extract the facial features. However, applying only ASM is not adequate for modeling a face in actual applications, because positions of facial features are unstably extracted due to limitation of the number of iterations in the ASM fitting algorithm. The unaccurate positions of facial features decrease the performance of the emotion recognition. In this paper, we propose real-time facial feature extraction and tracking framework using ASM and LK optical flow for emotion recognition. LK optical flow is desirable to estimate time-varying geometric parameters in sequential face images. In addition, we introduce a straightforward method to avoid tracking failure caused by partial occlusions that can be a serious problem for tracking based algorithm. Emotion recognition experiments with k-NN and SVM classifier shows over 95% classification accuracy for three emotions: "joy", "anger", and "disgust".

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.735-739
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• 2005

This paper presents a new system to estimate the head pose of human in interactive indoor environment that has dynamic illumination change and large working space. The main idea of this system is to suggest a new morphological feature for estimating head angle from stereo disparity map. When a disparity map is obtained from stereo camera, the matching confidence value can be derived by measurements of correlation of the stereo images. Applying a threshold to the confidence value, we also obtain the specific morphology of the disparity map. Therefore, we can obtain the morphological shape of disparity map. Through the analysis of this morphological property, the head pose can be estimated. It is simple and fast algorithm in comparison with other algorithm which apply facial template, 2D, 3D models and optical flow method. Our system can automatically segment and estimate head pose in a wide range of head motion without manual initialization like other optical flow system. As the result of experiments, we obtained the reliable head orientation data under the real-time performance.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.263-266
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• 2002

An optical method for surface roughness estimation based on statistical analysis of the light intensity of a scattered laser beam pattern. The method is very simple but has a disadvantage that no more information than the averaged roughness is estimated. In this study a new try was conducted to derive more advanced surface information from the details of the light intensity distribution. Some periodic ripples among the light intensity distribution being assumed to relate with scratch left on the machined surface, a corresponding surface profile is estimated from the ripples using FFT and IFFT algorithm. IFFT technique is used to extract some dominant signal components among the intensity distribution. Compared to the measured profiles by a stylus type surf-tester, the profiles obtained through the proposed method are probably acceptable in a sense of the profile shape. Calibration of the amplitude needs more works in the future.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2007년도 Proceedings of ISRS 2007
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• pp.49-52
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• 2007

This study uses empirical method to estimate absorption coefficient of colored dissolved organic matter $(a_{dom})$ from GOCI satellite data with the relationship between band ratio of remote sensing reflectance $(R_{rs})$ and $a_{dom}$. For development of $a_{dom}$ estimation algorithm, the used data is in-situ data about ocean optical properties in the around seawater area of the Korean Peninsula during 1998 - 2005. The relationship of $R_{rs}$(412)/$R_{rs}$(555), $R_{rs}$(443)/$R_{rs}$(555), $R_{rs}$(490)/$R_{rs}$(555), $R_{rs}$(510)/$R_{rs}$(555) and $a_{dom}$(412) showed $R^2$ values of 0.707, 0.707, 0.597 and 0.552, respectively. The spectrum of $a_{dom}({\lambda})$ is shape of exponential function $a_{dom}({\lambda})$ value decreases with increasing wavelength. For estimation of $a_{dom}$ from satellite data, we developed an algorithm from the relationship of $a_{dom}$(412) and $R_{rs}$(412)/$R_{rs}$(555). This algorithm was employed on SeaWiFS imagery to estimate $R_{rs}$(412) in the South Sea, East Sea, Yellow Sea and northern East China Sea areas. Also, SeaDAS-derived $a_{dg}$(412) from same SeaWiFS imagery, These $a_{dg}$(412) was then compared with in-situ and empirical-algorithm-derived $a_{dom}$(412), but these values were different. We think two points that such different values are caused by discrepancy related to failure of standard atmospheric correction scheme, the other are caused by error related to definition of $a_{dom}$(412) and $a_{dg}$(412).

• Journal of the Korean Society for Industrial and Applied Mathematics
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• 제18권2호
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• pp.181-192
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• 2014

In this paper, we propose a robust real-time myocardial border tracking algorithm for echocardiography. Commonly, after an initial contour of LV border is traced at one or two frame from the entire cardiac cycle, LV contour tracking is performed over the remaining frames. Among a variety of tracking techniques, optical flow method is the most widely used for motion estimation of moving objects. However, when echocardiography data is heavily corrupted in some local regions, the errors bring the tracking point out of the endocardial border, resulting in distorted LV contours. This shape distortion often occurs in practice since the data acquisition is affected by ultrasound artifacts, dropout or shadowing phenomena of cardiac walls. The proposed method deals with this shape distortion problem and reflects the motion realistic LV shape by applying global deformation modeled as affine transform partitively to the contour. We partition the tracking points on the contour into a few groups and determine each affine transform governing the motion of the partitioned contour points. To compute the coefficients of each affine transform, we use the least squares method with equality constraints that are given by the relationship between the coefficients and a few contour points showing good tracking results. Many real experiments show that the proposed method supports better performance than existing methods.

• Journal of Astronomy and Space Sciences
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• 제30권3호
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• pp.179-185
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• 2013

Photometric observation is one of the most effective techniques for determining the physical characteristics of unknown space objects and space debris. In this research, we examine the change in brightness of the Communication, Ocean, Meteorological Satellite-1 (COMS-1) Geostationary Orbit Satellite (GEO), and compare it to our estimate model. First, we calculate the maximum brightness time using our calculation method and then derive the light curve shape using our rendering model. The maximum brightness is then calculated using the induced equation from Pogson's formula. For a comparison with our estimation, we carried out photometric observation using an optical telescope. The variation in brightness and the shape of the light curve are similar to the calculations achieved using our model, but the maximum brightness shows a slightly different value from our calculation result depending on the input parameters. This paper examines the photometric phenomenon of the variation in brightness of a GEO satellite, and the implementation of our approach to understanding the characteristics of space objects.

• 한국공작기계학회논문집
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• 제13권6호
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• pp.119-126
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• 2004

The welding characteristics of Inconel 600 Alloy using a continuous wave Nd:YAG laser are experimentally investigated. The major process parameters studied in the present laser welding experiment were the positions of focus, laser power and travel speed of laser bean We measured the fusion zone size and its shape using an optical microscope for the observation of cross-sectional area. We performed two tests regarding the tension and the micro hardness for welding quality estimation. Then we measured residual stress in welds by electronic speckle pattern interferometry(ESPI). In conclusion the optimum butt welding process parameters were 0.5mm focus position, 1.6kW laser power, 1m/min travel speed and 5.5$\ell$/min assist gas discharge.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.471-472
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• 2007

The scalp is skin tissue for skull-protection and roots for hair growth. Therefore continuous monitoring of scalp condition is essential for hair management. However, the equipments for existent are inconvenient to use because of focus tremor and external factors(Hair Gel, Wax, accessories and so on). Furthermore there is a problem to use an expensive optical devices like CCD (Charge Coupled Device) camera or lens of 200 - 1000 magnification. It causes a difficulty of using those equipment. We design the special electrode(length 5.65mm, diameter 0.8mm of needle shape) and the impedance system(1kHz, 78uA). Tn this paper, we can measure scalp impedance with our system. Moreover, we find the possibility of classifying scalp condition with measured impedance values. For the classification of scalp condition, we used ARAMO-TS as an imaging system. In conclusion, the problem of existent devices could be improved using these method. It also has a benefit of continuous monitoring of scalp condition.