• The KIPS Transactions:PartB
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• v.14B no.4
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• pp.311-320
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• 2007

This paper presents vision-based 3D facial expression animation technique and system which provide the robust 3D head pose estimation and real-time facial expression control. Many researches of 3D face animation have been done for the facial expression control itself rather than focusing on 3D head motion tracking. However, the head motion tracking is one of critical issues to be solved for developing realistic facial animation. In this research, we developed an integrated animation system that includes 3D head motion tracking and facial expression control at the same time. The proposed system consists of three major phases: face detection, 3D head motion tracking, and facial expression control. For face detection, with the non-parametric HT skin color model and template matching, we can detect the facial region efficiently from video frame. For 3D head motion tracking, we exploit the cylindrical head model that is projected to the initial head motion template. Given an initial reference template of the face image and the corresponding head motion, the cylindrical head model is created and the foil head motion is traced based on the optical flow method. For the facial expression cloning we utilize the feature-based method, The major facial feature points are detected by the geometry of information of the face with template matching and traced by optical flow. Since the locations of varying feature points are composed of head motion and facial expression information, the animation parameters which describe the variation of the facial features are acquired from geometrically transformed frontal head pose image. Finally, the facial expression cloning is done by two fitting process. The control points of the 3D model are varied applying the animation parameters to the face model, and the non-feature points around the control points are changed by use of Radial Basis Function(RBF). From the experiment, we can prove that the developed vision-based animation system can create realistic facial animation with robust head pose estimation and facial variation from input video image.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.05a
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• pp.750-753
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• 2012

A method detecting the position of eyes and tracking a gaze point of eyes in realtime using POSIT is suggested in this paper. This algorithm find out a candidate area of eyes using topological characteristics of eyes and then decides the center of eyes using physical characteristics of eyes. To find the eyes, a nose and a mouth are used for POSIT. The experimental results show that proposed method effectively performed detection of eyes in facial image in FERET databases and gave high performance when used for tracking a gaze point of eyes.

• Environmental Mutagens and Carcinogens
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• v.22 no.3
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• pp.149-156
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• 2002

The detection of many synthetic chemicals used in industry that may pose a genetic hazard in our environment is of great concern at present. Since these substances are not limited to the original products, and enter the environment, they have become widespread environmental pollutants, thus leading to a variety of chemicals that possibly threaten the public health. In this respect, to regulate and to evaluate the chemical hazard will be important to environment and human health. The clastogenicity of 18 synthetic chemicals was evaluated in Chinese hamster lung fibroblast cells in vitro. 4-Chloro-3,5-dimethyl phenol (CAS No. 88-04-0) induced chromosomal aberrations with significance at the concentration of 15.7 $\mu\textrm{g}$/$m\ell$ both in the presence and absence of metabolic activation system. Phenoxybenzene (CAS No. 101-84-8) which is one of the most cytotoxic chemical among 18 chemicals tested revealed no clastogenicity in the range of 0.11-0.43 $\mu\textrm{g}$/$m\ell$ both in the presence and absence of metabolic activation system. From the results of chromosomal aberration assay with 18 synthetic chemicals in Chinese hamster lung cells in vitro, 4-chloro-3,5-dimethyl phenol (CAS No. 88-04-0) revealed weak positive clastogenic results in this study.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.11 s.188
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• pp.58-67
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• 2006

Due to the variety of signal processing and complicated mathematical analysis, it is not easy to accomplish 3D bin-picking with non-contact sensor. To solve this difficulties the reliable signal processing algorithm and a good sensing device has been recommended. In this research, 3D laser scanner and CCD camera is applied as a sensing device respectively. With these sensor we develop a two-step bin-picking method and reliable algorithm for the recognition of 3D bin object. In the proposed bin-picking, the problem is reduced to 2D intial recognition with CCD camera at first, and then 3D pose detection with a laser scanner. To get a good movement in the robot base frame, the hand eye calibration between robot's end effector and sensing device should be also carried out. In this paper, we examine auto-calibration technique in the sensor calibration step. A new thinning algorithm and constrained hough transform is also studied for the robustness in the real environment usage. From the experimental results, we could see the robust bin-picking operation under the non-aligned 3D hole object.

• Environmental Mutagens and Carcinogens
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• v.24 no.1
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• pp.25-32
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• 2004

To validate and to estimate the chemical hazard playa very important role to environment and human health. The detection of many synthetic chemicals used in industry that may pose a genetic hazard in our environment is of great concern at present. Since these substances are not limited to the original products, and enter the environment, they have become widespread environmental pollutants, thus leading to a variety of chemicals that possibly threaten the public health. In this resepct, the clastogenicity of 17 synthetic chemicals was evaluated with bone marrow micronucleus assay in mice. The positive control, mitomycin C (2 mg/kg, i.p.) revealed significant induction ratio of percentage of micronucleated polychromatic erythrocytes/1,000 polychromatic erythrocytes compared to solvent controls. The chemicals with relatively high $LD_{50}$ value such as allyl alcohol (CAS No. 107-18-6), 2,4-pentanedione (CAS No. 123-54-6) and 4-chloro-3,5-dimethylphenol (CAS No. 88-04-0) revealed no significant induction of micronucleated polychromatic erythrocytes in mice. From this results, 17 synthetic chemicals widely used in industry have revealed no significant micronucleus induction of clastogenicity in mice in this experiment.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.5
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• pp.483-489
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• 2015

In this paper, we propose monocular visual simultaneous localization and mapping (SLAM) in the large-scale environment. The proposed method continuously computes the current 6-DoF camera pose and 3D landmarks position from video input. The proposed method successfully builds consistent maps from challenging outdoor sequences using a monocular camera as the only sensor. By using a binary descriptor and metric-topological mapping, the system demonstrates real-time performance on a large-scale outdoor dataset without utilizing GPUs or reducing input image size. The effectiveness of the proposed method is demonstrated on various challenging video sequences.

• The Journal of Korea Robotics Society
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• v.5 no.4
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• pp.294-301
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• 2010

In order to produce a convenient robot for the aged and the lower limb disabled, it is needed for the research detecting implicit walking intention and controlling robot by a user's intention. In this study, we developed sensor module system to control the walking- assist robot using FSR sensor and tilt sensor, and analyzed the signals being acquired from two sensors. The sensor module system consisted of the assist device control unit, communication unit by wire/wireless, information collection unit, information operation unit, and information processing PC which handles integrated processing of assist device control. The FSR sensors attached user's the palm and the soles of foot are sensing force/pressure signals from these areas and are used for detecting the walking intention and states. The tilt sensor acquires roll and pitch signal from area of vertebrae lumbales and reflects the pose of the upper limb. We could recognize the more detailed user's walking intention such as 'start walking', 'start of right or left foot forward', and 'stop walking' by the combination of FSR and tilt signals can recognize.

• The Journal of Korea Robotics Society
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• v.9 no.3
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• pp.154-159
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• 2014

The Global Positioning System (GPS) is widely used to aid the navigation of aerial vehicles. However, the GPS cannot be used indoors, so alternative navigation methods are needed to be developed for micro aerial vehicles (MAVs) flying in GPS-denied environments. In this paper, a real-time three-dimensional (3-D) indoor navigation system and closed-loop control of a quad-rotor aerial vehicle equipped with an inertial measurement unit (IMU) and a low-cost light detection and ranging (LIDAR) is presented. In order to estimate the pose of the vehicle equipped with the two-dimensional LIDAR, an octree-based grid map and Monte-Carlo Localization (MCL) are adopted. The navigation results using the MCL are then evaluated by making a comparison with a motion capture system. Finally, the results are used for closed-loop control in order to validate its positioning accuracy during procedures for stable hovering and waypoint-following.

• Journal of Korea Multimedia Society
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• v.16 no.12
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• pp.1393-1402
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• 2013

Hand gesture is one of the most popular communication methods in everyday life. In human-computer interaction applications, hand gesture recognition provides a natural way of communication between humans and computers. There are mainly two methods of hand gesture recognition: glove-based method and vision-based method. In this paper, we propose a vision-based hand gesture recognition method using Kinect. By using the depth information is efficient and robust to achieve the hand detection process. The finger labeling makes the system achieve pose classification according to the finger name and the relationship between each fingers. It also make the classification more effective and accutate. Two kinds of gesture sets can be recognized by our system. According to the experiment, the average accuracy of American Sign Language(ASL) number gesture set is 94.33%, and that of general gestures set is 95.01%. Since our system runs in real-time and has a high recognition rate, we can embed it into various applications.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1996.04a
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• pp.514-517
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• 1996

In solving multi-level knapsack problems, conventional heuristic approaches often assume a short-sighted plan within a static decision enviornment to find a near optimal solution. These conventional approaches are inflexible, and lack the ability to adapt to different problem structures. This research approaches the problem from a totally different viewpoint, and a new method is designed and implemented. This method performs intelligent actions based on memories of historic data and learning. These actions are developed not only by observing the attributes of the optimal solution, the solution space, and its corresponding path to the optimal solution, but also by applying human intelligence, experience, and intuition with respect to the search strategies. The method intensifies, or diversifies the search process appropriately in time and space. In order to create a good neighborhood structure, this method uses two powerful choice rules that emphasize the impact of candidate variables on the current solution with respect to their profit contribution. A side effect of so-called "pseudo moves", similar to "aspirations", supports these choice rules during the evaluation process. For the purpose of visiting as many relevant points as possible, strategic oscillation between feasible and infeasible solutions around the boundary is applied for intensification. To avoid redundant moves, short-term (tabu-lists), intermediate-term (cycle detection), and long-term (recording frequency and significant solutions for diversification) memories are used. Test results show that among the 45 generated problems (these problems pose significant or insurmountable challenges to exact methods) the approach produces the optimal solutions in 39 cases.lutions in 39 cases.