• Journal of Information Processing Systems
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• v.11 no.4
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• pp.601-615
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• 2015

Region of interest (ROI) is the most informative part of a medical image and mostly has been used as a major part of watermark. Various shapes ROIs selection have been reported in region-based watermarking techniques. In region-based watermarking schemes an image region of non-interest (RONI) is the second important part of the image and is used mostly for watermark encapsulation. In online healthcare systems the ROI wrong selection by missing some important portions of the image to be part of ROI can create problem at the destination. This paper discusses the complete medical image availability in original at destination using the whole image as a watermark for authentication, tamper localization and lossless recovery (WITALLOR). The WITALLOR watermarking scheme ensures the complete image security without of ROI selection at the source point as compared to the other region-based watermarking techniques. The complete image is compressed using the Lempel-Ziv-Welch (LZW) lossless compression technique to get the watermark in reduced number of bits. Bits reduction occurs to a number that can be completely encapsulated into image. The watermark is randomly encapsulated at the least significant bits (LSBs) of the image without caring of the ROI and RONI to keep the image perceptual degradation negligible. After communication, the watermark is retrieved, decompressed and used for authentication of the whole image, tamper detection, localization and lossless recovery. WITALLOR scheme is capable of any number of tampers detection and recovery at any part of the image. The complete authentic image gives the opportunity to conduct an image based analysis of medical problem without restriction to a fixed ROI.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.12
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• pp.1226-1232
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• 2010

A door can serve as a feature for place classification and localization for navigation of a mobile robot in indoor environments. This paper proposes a door detection method based on the recognition of various door handles using the general Hough transform (GHT) and support vector machine (SVM). The contour and color histogram of a door handle extracted from the database are used in GHT and SVM, respectively. The door recognition scheme consists of four steps. The first step determines the region of interest (ROI) images defined by the color information and the environment around the door handle for stable recognition. In the second step, the door handle is recognized using the GHT method from the ROI image and the image patches are extracted from the position of the recognized door handle. In the third step, the extracted patch is classified whether it is the image patch of a door handle or not using the SVM classifier. The door position is probabilistically determined by the recognized door handle. Experimental results show that the proposed method can recognize various door handles and detect doors in a robust manner.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.9
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• pp.89-95
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• 2015

In this paper, we propose a real-time two-dimensional bar code detection system even at long range using a vision technique. We first perform short-range detection, and then long-range detection if the short-range detection is not successful. First, edge map generation, image binarization, and connect component labeling (CCL) are performed in order to select a region of interest (ROI). After interpolating the selected ROI using bilinear interpolation, a location symbol pattern is detected as the same as for short-range detection. Finally, the symbol pattern is arranged by applying inverse perspective transformation to localize bar codes. Experimental results demonstrate that the proposed system successfully detects bar codes at two or three times longer distance than existing ones even at indoor environment.

• Journal of the Optical Society of Korea
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• v.19 no.5
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• pp.467-476
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• 2015

Finger vein recognition, which is a promising biometric method for identity authentication, has attracted significant attention. Considerable research focuses on transmission-type finger vein recognition, but this type of authentication is difficult to implement in mobile consumer devices. Therefore, reflection-type finger vein recognition should be developed. In the reflection-type vein recognition field, the majority of researchers concentrate on palm and palm dorsa patterns, and only a few pay attention to reflection-type finger vein recognition. Thus, this paper presents reflection-type finger vein recognition for biometric application that can be integrated into mobile consumer devices. A database is built to test the proposed algorithm. A novel method of region-of-interest localization for a finger vein image is introduced, and a scheme for effectively extracting finger vein features is proposed. Experiments demonstrate the feasibility of reflection-type finger vein recognition.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.8
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• pp.132-139
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• 2015

Visual SLAM(Simultaneous Localization And Mapping) has been used widely to estimate a mobile robot's location. Visual SLAM estimates relative motions with static visual features over image sequence. Because visual SLAM methods assume generally static features in the environment, we cannot obtain precise results in dynamic situation including many moving objects: cars and human beings. This paper presents a stereo vision based SLAM method in dynamic environment. First, we extract disparity map with stereo vision and compute optical flow. We then compute disparity change that is the estimated flow field between stereo views. After examining the disparity change value, we detect ROIs(Region Of Interest) in disparity space to determine dynamic scene objects. In indoor environment, many structural planes like walls may be determined as false dynamic elements. To solve this problem, we segment the scene into planar structure. More specifically, disparity values by the stereo vision are projected to X-Z plane and we employ Hough transform to determine planes. In final step, we remove ROIs nearby the walls and discriminate static scene elements in indoor environment. The experimental results show that the proposed method can obtain stable performance in dynamic environment.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.198-208
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• 2022

In this paper, an autonomous driving system is implemented for the Segye AI Robot Race Competition that multiple vehicles drive simultaneously. By utilizing the ERP42-racing platform, RTK-GPS, and LiDAR sensors provided in the competition, we propose an autonomous driving system that can drive safely and quickly in a road environment with multiple vehicles. This system consists of a recognition, judgement, and control parts. In the recognition stage, vehicle localization and obstacle detection through waypoint-based LiDAR ROI were performed. In the judgement stage, target velocity setting and obstacle avoidance judgement are determined in consideration of the straight/curved section and the distance between the vehicle and the neighboring vehicle. In the control stage, adaptive cruise longitudinal velocity control based on safe distance and lateral velocity control based on pure-pursuit are performed. To overcome the limited experimental environment, simulation and partial actual experiments were conducted together to develop and verify the proposed algorithms. After that, we participated in the Segye AI Robot Race Competition and performed autonomous driving racing with verified algorithms.