• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.11
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• pp.2086-2094
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• 2008

Finding a planar surface on 3D space is very important for efficient and safe operation of a mobile robot. In this paper, we propose a method using a plane detection cell (PDC) and iterative randomized Hough transform (IRHT) for finding the planar region from a 3D range image. First, the local planar region is detected by a PDC from the target area of the range image. Each plane is then segmented by analyzing the accumulated peaks from voting the local direction and position information of the local PDC in Hough space to reduce effect of noises and outliers and improve the efficiency of the HT. When segmenting each plane region, the IRHT repeatedly decreases the size of the planar region used for voting in the Hough parameter space in order to reduce the effect of noise and solve the local maxima problem in the parameter space. In general, range images have many planes of different normal directions. Hence, we first detected the largest plane region and then the remained region is again processed. Through this procedure, we can segment all planar regions of interest in the range image.

• Journal of IKEEE
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• v.24 no.2
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• pp.403-408
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• 2020

Photovoltaic (PV) has both intermittent and uncertainty in nature, so it is difficult to accurately predict. Thus anomaly detection technology is important to diagnose real time PV generation. This paper identifies a correlation between various parameters and classifies the PV data applying k-nearest neighbor and dynamic time warpping. Results for the two classifications showed that an outlier detection by a fault of some facilities, and a temporary power loss by partial shading and overall shading occurring during the short period. Based on 100kW plant data, machine learning analysis and test results verified actual outliers and candidates of outlier.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.05a
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• pp.840-843
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• 2016

The circular arc is a very useful feature for object detection and recognition in industrial environments. In this paper, a new method to detect circular arcs is proposed. The detection of the circular arc includes the estimation of the center, the radius and the two ending points of the arc. This new method is based on determining the best part of the circular arc (part which does not contains outliers points) using 3 points designated along the arc. A least square method is applied to the best part of the arc and the center and the radius of the arc are obtained. The distance between the remaining edge's points (points which are not lying on the best part of the arc) and the radius is used to the two ending points of the arc.

• ETRI Journal
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• v.45 no.4
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• pp.650-665
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• 2023

A novel smart metering technique capable of anomaly detection was proposed for real-time home power management system. Smart meter data generated in real-time were obtained from 900 households of single apartments. To detect outliers and missing values in smart meter data, a deep learning model, the autoencoder, consisting of a graph convolutional network and bidirectional long short-term memory network, was applied to the smart metering technique. Power management based on the smart metering technique was executed by multi-objective optimization in the presence of a battery storage system and an electric vehicle. The results of the power management employing the proposed smart metering technique indicate a reduction in electricity cost and amount of power supplied by the grid compared to the results of power management without anomaly detection.

• ETRI Journal
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• v.40 no.2
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• pp.246-256
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• 2018

A spatial augmented reality (SAR) system enables a virtual image to be projected onto the surface of a real-world object and the user to intuitively control the image using a tangible interface. However, occlusions frequently occur, such as a sudden change in the lighting environment or the generation of obstacles. We propose a robust object tracker based on a multithreaded system, which can track an object robustly through occlusions. Our multithreaded tracker is divided into two threads: the detection thread detects distinctive features in a frame-to-frame manner, and the tracking thread tracks features periodically using an optical-flow-based tracking method. Consequently, although the speed of the detection thread is considerably slow, we achieve real-time performance owing to the multithreaded configuration. Moreover, the proposed outlier filtering automatically updates a random sample consensus distance threshold for eliminating outliers according to environmental changes. Experimental results show that our approach tracks an object robustly in real-time in an SAR environment where there are frequent occlusions occurring from augmented projection images.

• International Journal of Internet, Broadcasting and Communication
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• v.14 no.4
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• pp.140-147
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• 2022

In this study, in order to efficiently detect data patterns and outliers in time series data, outlier detection processing is performed for each section based on a smart contract in the data preprocessing process, and parameters for the ARIMA model are determined by generating and reflecting the significance and outlier-related parameters of the data. It was created and applied to the modified arithmetic expression to lower the data abnormality. To evaluate the performance of this study, the normality of the data was compared and evaluated when the parameters of the general ARIMA model and the ARIMA model through this study were applied, and a performance improvement of more than 6% was confirmed.

• Smart Structures and Systems
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• v.29 no.1
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• pp.129-140
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• 2022

The effectiveness of system identification, damage detection, condition assessment and other structural analyses relies heavily on the accuracy and reliability of the measured data in structural health monitoring (SHM) systems. However, data anomalies often occur in SHM systems, leading to inaccurate and untrustworthy analysis results. Therefore, anomalies in the raw data should be detected and cleansed before further analysis. Previous studies on data anomaly detection mainly focused on just single type of data anomaly for denoising or removing outliers, meanwhile, the existing methods of detecting multiple data anomalies are usually time consuming. For these reasons, recognising multiple anomaly patterns for real-time alarm and analysis in field monitoring remains a challenge. Aiming to achieve an efficient and accurate detection for multi-type data anomalies for field SHM, this study proposes a pattern-recognition-based data anomaly detection method that mainly consists of three steps: the feature extraction from the long time-series data samples, the training of a pattern recognition neural network (PRNN) using the features and finally the detection of data anomalies. The feature extraction step remarkably reduces the time cost of the network training, making the detection process very fast. The performance of the proposed method is verified on the basis of the SHM data of two practical long-span bridges. Results indicate that the proposed method recognises multiple data anomalies with very high accuracy and low calculation cost, demonstrating its applicability in field monitoring.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.1
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• pp.302-320
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• 2017

In this paper, an innovative robust feature detection and matching strategy for visual odometry based on stereo image sequence is proposed. First, a sparse multiscale 2D local invariant feature detection and description algorithm AKAZE is adopted to extract the interest points. A robust feature matching strategy is introduced to match AKAZE descriptors. In order to remove the outliers which are mismatched features or on dynamic objects, an improved random sample consensus outlier rejection scheme is presented. Thus the proposed method can be applied to dynamic environment. Then, geometric constraints are incorporated into the motion estimation without time-consuming 3-dimensional scene reconstruction. Last, an iterated sigma point Kalman Filter is adopted to refine the motion results. The presented ego-motion scheme is applied to benchmark datasets and compared with state-of-the-art approaches with data captured on campus in a considerably cluttered environment, where the superiorities are proved.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.3
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• pp.236-241
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• 2008

This paper presents a method to recognize the plane regions for movement of walking robots. When the autonomous agencies using stereo camera or laser scanning sensor is under unknown 3D environment, the mobile agency has to detect the plane regions to decide the moving direction and perform the given tasks. In this paper, we propose a very fast method for plane detection using normal vector of a triangle by 3 vertices defined on a small circular region. To reduce the effect of noises and outliers, the triangle rotates with respect to the center position of the circular region and generates a series of triangles with different normal vectors based on different three points on the boundary of the circular region. The vectors for several triangles are normalized and then median direction of the normal vectors is used to test the planarity of the circular region. The method is very fast and we prove the performance of algorithm for real range data obtained from a stereo camera system.

• Proceedings of the Korea Information Processing Society Conference
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• 2023.05a
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• pp.417-419
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• 2023

Hypertension is one of the leading causes of mortality worldwide. In recent years, the incidence of hypertension has increased dramatically, not only among the elderly but also among young people. In this regard, the use of machine-learning methods to diagnose the causes of hypertension has increased in recent years. In this study, we improved the prediction of hypertension detection using Mahalanobis distance-based multivariate outlier removal using the KNHANES database from the Korean national health data and the COVID-19 dataset from Kaggle. This study was divided into two modules. Initially, the data preprocessing step used merged datasets and decision-tree classifier-based feature selection. The next module applies a predictive analysis step to remove multivariate outliers using the Mahalanobis distance from the experimental dataset and makes a prediction of hypertension. In this study, we compared the accuracy of each classification model. The best results showed that the proposed MAH_RF algorithm had an accuracy of 82.66%. The proposed method can be used not only for hypertension but also for the detection of various diseases such as stroke and cardiovascular disease.