• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.16-22
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• 2024

Robotic grasping in unstructured environments poses a significant challenge, demanding precise estimation of gripping positions for diverse and unknown objects. Generative Grasping Convolution Neural Network (GG-CNN) can estimate the position and direction that can be gripped by a robot gripper for an unknown object based on a three-dimensional depth map. Since GG-CNN uses only a depth map as an input, the precision of the depth map is the most critical factor affecting the result. To address the challenge of depth map precision, we integrate the Segment Anything Model renowned for its robust zero-shot performance across various segmentation tasks. We adjust the components corresponding to the segmented areas in the depth map aligned through external calibration. The proposed method was validated on the Cornell dataset and SurgicalKit dataset. Quantitative analysis compared to existing methods showed a 49.8% improvement with the dataset including surgical instruments. The results highlight the practical importance of our approach, especially in scenarios involving thin and metallic objects.

• Journal of Ocean Engineering and Technology
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• v.38 no.3
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• pp.115-123
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• 2024

USBL systems are essential for providing accurate positions of autonomous underwater vehicles (AUVs). On the other hand, the accuracy can be degraded by outliers because of the environmental conditions. A failure to address these outliers can significantly impact the reliability of underwater localization and navigation systems. This paper proposes a novel outlier rejection algorithm for AUV localization using Voronoi diagrams and query point calculation. The Voronoi diagram divides data space into Voronoi cells that center on ultra-short baseline (USBL) data, and the calculated query point determines if the corresponding USBL data is an inlier. This study conducted experiments acquiring GPS and USBL data simultaneously and optimized the algorithm empirically based on the acquired data. In addition, the proposed method was applied to a sensor fusion algorithm to verify its effectiveness, resulting in improved pose estimations. The proposed method can be applied to various sensor fusion algorithms as a preprocess and could be used for outlier rejection for other 2D-based location sensors.

• Annual Conference of KIPS
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• 2024.05a
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• pp.604-606
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• 2024

컴퓨터 비전 응용은 우리 생활에서 중요한 역할을 한다. 현재, 대규모 모델의 등장으로 딥 러닝의 훈련 및 운행 비용이 급격히 상승하고 있다. 자원이 제한된 환경에서는 일부 AI 프로그램을 실행할 수 없게 되므로, 경량화 연구가 필요하다. YOLOv8 은 현재 주요 목표 검출 모델 중 하나이며, 본 논문은 다중 스케일 Ghost 컨볼루션 모듈을 사용하여 구축된 새로운 YOLOv8-pose-msg 키포인트 검출 모델을 제안한다. 다양한 사양에서 새 모델의 매개변수 양은 최소 34% 감소할 수 있으며, 최대 59%까지 감소할 수 있다. 종합적인 검출 성능은 비교적 대규모 데이터셋에서 원래의 수준을 유지할 수 있으며, 소규모 데이터셋에서의 키포인트 검출은 30% 이상 증가할 수 있다. 동시에 최대 25%의 훈련 및 추론 시간을 절약할 수 있다.

• Proceedings of the National Institute of Ecology of the Republic of Korea
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• v.5 no.4
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• pp.128-133
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• 2024

Invasive alien species, along with climate change, are major contributing factors to biodiversity loss, and their unintentional introduction through imported goods is increasing. Termites, as wood-feeding insects, pose a significant threat when introduced into Korea via imported wood, necessitating a rapid and accurate identification method. In this study, we developed a diagnostic method based on species-specific genetic sequences for identifying Reticulitermes kanmonensis, a recently identified species. Termite samples were collected from Wanju-gun, Jeollabuk-do, and subjected to whole-genome sequencing to pinpoint species-specific genetic sequences. Utilizing these sequences, we designed primer sets and employed TaqMan-based primer sets and qPCR analysis to select the final primer sets capable of rapidly distinguishing R. kanmonensis. The genetic detection method developed here offers a rapid means of identifying alien termite species, likely enhancing termite management and quarantine practices in Korea.

• International conference on construction engineering and project management
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• 2024.07a
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• pp.775-782
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• 2024

This systematic review comprehensively analyzes the application of computer vision in construction productivity measurement and emphasizes the importance of worker accountability in construction sites. It identifies a significant gap in the connection level between input (resources) and output data (products or progress) of productivity monitoring, a factor not adequately addressed in prior research. The review highlights three fundamental groups: input, output, and connection groups. Object detection, tracking, pose, and activity recognition, as the input stage, are essential for identifying characteristics and worker movements. The output phase will mostly focus on progress monitoring, and understanding the interaction of workers with other entities will be discussed in the connection groups. This study offers four research future research directions for the worker accountability monitoring process, such as human-object interaction (HOI), generative AI, location-based management systems (LBMS), and robotic technologies. The successful accountability monitoring will secure the accuracy of productivity measurement and elevate the competitiveness of the construction industry.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.9
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• pp.25-31
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• 2020

In this study, for the safe use of a portable ultrasonic skin-beauty device, an android app was developed to show the irradiation locations of focused ultrasound to a user through augmented reality (AR) and enable stable self-surgery. The utility of the app was assessed through testing. While the user is making a facial treatment with the beauty device, the user's face and the ultrasonic irradiation location on the face are detected in real-time with a smart-phone camera. The irradiation location is then indicated on the face image and shown to the user so that excessive ultrasound is not irradiated to the same area during treatment. To this end, ML-Kit is used to detect the user's face landmarks in real-time, and they are compared with a reference face model to estimate the pose of the face, such as rotation and movement. After mounting a LED on the ultrasonic irradiation part of the device and operating the LED during irradiation, the LED light was searched to find the position of the ultrasonic irradiation on the smart-phone screen, and the irradiation position was registered and displayed on the face image based on the estimated face pose. Each task performed in the app was implemented through the thread and the timer, and all tasks were executed within 75 ms. The test results showed that the time taken to register and display 120 ultrasound irradiation positions was less than 25ms, and the display accuracy was within 20mm when the face did not rotate significantly.

• Smart Media Journal
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• v.12 no.11
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• pp.57-66
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• 2023

In this paper, we present a study on an AI-based system utilizing the CCTV system within city buses to predict the intentions of boarding and alighting passengers, with the aim of preventing accidents. The proposed system employs the YOLOv7 Pose model to detect passengers, while utilizing an LSTM model to predict intentions of tracked passengers. The system can be installed on the bus's CCTV terminals, allowing for real-time visual confirmation of passengers' intentions throughout driving. It also provides alerts to the driver, mitigating potential accidents during passenger transitions. Test results show accuracy rates of 0.81 for analyzing boarding intentions and 0.79 for predicting alighting intentions onboard. To ensure real-time performance, we verified that a minimum of 5 frames per second analysis is achievable in a GPU environment. his algorithm enhance the safety of passenger transitions during bus operations. In the future, with improved hardware specifications and abundant data collection, the system's expansion into various safety-related metrics is promising. This algorithm is anticipated to play a pivotal role in ensuring safety when autonomous driving becomes commercialized. Additionally, its applicability could extend to other modes of public transportation, such as subways and all forms of mass transit, contributing to the overall safety of public transportation systems.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.5
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• pp.617-622
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• 2004

In this work, we suggested the method which improves the efficiency of the face detection algorithm using Pulse-Coupled Neural Network. Face detection algorithm which uses the color information is independent on pose, size and obstruction of a face. But the use of color information encounters some problems arising from skin-tone color in the background, intensity variation within faces, and presence of random noise, and so on. Depending on these conditions, we obtained the mean and variance of the skin-tone colors by experiments. Then we introduce a preprocess that the pixel with a mean value of skin-tone colors has highest level value (255) and the other pixels in the skin-tone region have values between 0 and 255 according to a normal distribution with a variance. This preprocess leads to an easy decision of the linking coefficient of Pulse-Coupled Neural Network.

• Journal of the Korea Society of Computer and Information
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• v.15 no.11
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• pp.67-73
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• 2010

In this paper, a new face detection method that is more accurate than the conventional methods is proposed. This method utilizes a hybrid of Hausdorff distance based on the geometric similarity between the two sets of points and the LBP distance based on the distribution of local micro texture of an image. The parameters for normalization and the optimal blending factor of the two different metrics were calculated from training sample images. Popularly used face database was used to show that the proposed method is more effective and robust to the variation of the pose, illumination, and back ground than the methods based on the Hausdorff distance or LBP distance. In the particular case, the average error distance between the detected and the true face location was reduced to 47.9% of the result of LBP method, and 22.8% of the result of Hausdorff method.

• Journal of Veterinary Clinics
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• v.27 no.1
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• pp.23-28
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• 2010

Mycobacterium avium ssp paratuberculosis, intracellular bacteria that can cause chronic granulomatous enteritis in cattle, continues to pose significant economic losses and health problem with high prevalence. The purpose of this study is the polymerase chain reaction (PCR)-base strategy for early detection of M. avium ssp paratuberculosis in whole blood. Blood samples were collected from korean cattles in Jeonbuk, Korea. The 16 out of 88 serum samples were detected M. partuberculosis by ELISA. Then samples of infected 8 Korean cattles were amplified by PCR. The PCR amplified targets are 16s rDNA and heat shock protein 65kDa (hsp 65). The 16s rDNA provided a highly sensitive and specific tool for the direct detection of mycobacteria. In addition M. avium was confirmed characteristically by the hsp65. Finally there were sure to M. avium ssp paratuberculosis by IS900 PCR. The restriction fragment length polymorphism was identified by PCR amplifications and subsequence restriction enzyme digestions with Pst I of a hsp65. These results indicate that confirm M. avium with 16s rDNA, hsp65 and a restriction fragment length polymorphism in the hsp65 gene can be seem the other pattern. Therefore, these results can be used for clinical direct detections of M. avium ssp paratuberculosis in whole blood of Korean cattle and also to be used epidemiological researches.