• Journal of Internet Computing and Services
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• v.10 no.4
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• pp.45-54
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• 2009

In this paper we propose a new approach that recognizes the similar categories by weighting distinctive features. The approach is based on the PLSA that is one of the effective methods for the object categorization. PLSA is introduced from the information retrieval of text domain. PLSA, unsupervised method, shows impressive performance of category recognition. However, it shows relatively low performance for the similar categories which have the analog distribution of the features. In this paper, we consider the effective object categorization for the similar categories by weighting the mainly distinctive features. We present that the proposed algorithm, weighted PLSA, recognizes similar categories. Our method shows better results than the standard PLSA.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2012.11a
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• pp.1-4
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• 2012

영상 매칭 기술은 컴퓨터 비전 분야에서 다양하게 응용될 수 있는 기초적인 기술 중에 하나이다. 대표적인 영상 매칭 기술인 SIFT나 SURF는 강인한 영상 매칭 성능을 나타내지만 계산량이 방대하여 실시간 기술에 사용될 수 없는 문제점을 가진다. 최근에 ORB나 BRISK는 FAST 특징점 검출기와 BRIEF 특징점 표현자를 조합하여 실시간 영상 매칭을 가능하게 하면서 기존의 영상 매칭 기술과 견줄만한 성능을 나타내었다. 본 논문에서는 FAST와 BRIEF를 수정하여 영상 왜곡에 강인하면서 실시간으로 매칭을 수행할 수 있는 영상 매칭 알고리즘을 제안한다. 노이즈에 강인하면서 스케일 변화를 고려하기 위하여 특징점 후보 영역을 제한하고 스케일 공간을 생성하여 특징점을 검출한다. 또한 영상의 회전 변화에 강인한 영상 매칭을 가능하게 하기 위하여 주변 픽셀 패턴의 Gradient로 특징점 방향을 결정하여 픽셀 밝기 값 비교로 이진 특징점 표현자를 생성한다. 제안하는 영상 매칭 알고리즘은 적은 계산량으로 기존의 알고리즘보다 우수한 영상 매칭 성능을 나타낸다. 특별히 노이즈가 존재하는 영상의 매칭에서 노이즈의 영향에 강인한 매칭 성능을 보여준다.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.6
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• pp.591-597
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• 2014

A wide variety of image application methods, such as aerial image, terrestrial image, terrestrial laser, and stereo image point are currently under investigation to develop three-dimensional 3D geospatial information. In this study, matching points, which are needed to build a 3D model, were examined under diverse weather conditions by analyzing the stereo images recorded by closed circuit television (CCTV) cameras installed in the U-City. The tests on illuminance and precipitation conditions showed that the changes in the number of matching points were very sensitively correlated with the changes in the illuminance levels. Based on the performances of the CCTV cameras used in the test, this study was able to identify the optimal values of the shutter speed and iris. As a result, compared to an automatic control mode, improved matching points may be obtained for images filmed using the data obtained through this test in relation to different weather and illuminance conditions.

• Journal of Veterinary Clinics
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• v.14 no.2
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• pp.279-286
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• 1997

Serial ultrasonographic examinations were daily performed on 11 bitches (5 Maltese and 3 Yorkshire terrier) from day 15 until parturition to determine the time of Sift detection and ultrasonographic appearance of the fetal and extra-fetal structures. Gestational age was timed from the day of ovulation (day 0), which was estimated to occur when p18sma progesterone concentration was first increased above 4.0 ng/ml. The gestational length in 8 bitches was 61.5 (range: 60-64) days. The initial detection time of fetal and extra-fetal structures were: gestational sac at days 20.5 (18-23); zonary placenta in the uterine wall at days 25.4 (24-30); yolk sac membrane at days 25,5 (23-37); amniotic mombrane at days 28.7 (25-32); embryo initial detection at days 23.3 (20-26); fetal heartbeat at days 23.9 (21-27); fetal movement at days 31.3 (26-34); limb buds at days 32.1 (29-35); rotomarh at days 35.3 (32-40); urinary bladder at days 35.6 (33-39); skeleton at days 37.8 (37- 40) and kidney at days 45.3 (41-49), respectively.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.781-787
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• 2015

This paper proposes a hybrid visual servoing algorithm for the object tracking by a mobile robot with the stereo camera. The mobile robot with the stereo camera performs an object recognition and object tracking using the SIFT and CAMSHIFT algorithms for the hybrid visual servoing. The CAMSHIFT algorithm using stereo camera images has been used to obtain the three-dimensional position and orientation of the mobile robot. With the hybrid visual servoing, a stable balance control has been realized by a control system which calculates a desired angle of the center of gravity whose location depends on variations of link rotation angles of the manipulator. A PID controller algorithm has adopted in this research for the control of the manipulator since the algorithm is simple to design and it does not require unnecessary complex dynamics. To demonstrate the control performance of the hybrid visual servoing, real experiments are performed using the mobile manipulator system developed for this research.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2005.05a
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• pp.342-348
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• 2005

This study was carried out fusion-welded butt joints in SWS 490A high strength steel subjected to tensile test that load-deflection curve. The windowed or short-time Fourier transform (WFT or SIFT) makes possible for the analysis of non-stationary or transient signals into a joint time-frequency domain and the wavelet transform (WT) is used to decompose the acoustic emission (AE) signal into various discrete series of sequences over different frequency bands. In this paper, for acoustic emission signal analysis to use a continuous wavelet transform, in which the Gabor wavelet base on a Gaussian window function is applied to the time-frequency domain. A wavelet transform is demonstrated and the plots are very powerful in the recognition of the acoustic emission features. As a result, the technique of acoustic emission is ideally suited to study variables which control time and stress dependent fracture or damage process in metallic materials.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.627-633
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• 2015

Accurate heading information is crucial for the navigation of intelligent vehicles. In outdoor environments, GPS is usually used for the navigation of vehicles. However, in GPS-denied environments such as dense building areas, tunnels, underground areas and indoor environments, non-GPS solutions are required. Yaw-rates from a single gyro sensor could be one of the solutions. In dealing with gyro sensors, the drift problem should be resolved. HDR (Heuristic Drift Reduction) can reduce the average heading error in straight line movement. However, it shows rather large errors in some moving environments, especially along curved lines. This paper presents a method called VDR (Vision-based Drift Reduction), a system which uses a low-cost vision sensor as compensation for HDR errors.

• Journal of IKEEE
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• v.16 no.4
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• pp.356-363
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• 2012

Information technology improves convenience, safety, and performance of automobiles. Recently, a lot of algorithms are studied to provide safety and environment information for driving, and traffic sign recognition is one of them. It can provide important information for safety driving. In this paper, we propose a method for traffic sign detection and identification concentrating on reducing the computation time. First, potential traffic signs are segmented by color threshold, and a polygon approximation algorithm is used to detect appropriate polygons. The potential signs are compared with the template signs in the database using SURF and ORB feature matching method.

• Journal of the Semiconductor & Display Technology
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• v.14 no.4
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• pp.56-60
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• 2015

Mobile devices like smartphones and tablets are becoming increasingly capable in terms of processing power. Although they are already used in computer vision, no comparable measurement experiments of the popular feature extraction algorithm have been made yet. That is, local feature descriptors are widely used in many computer vision applications, and recently various methods have been proposed. While there are many evaluations have focused on various aspects of local features, matching accuracy, however there are no comparisons considering on speed trade-offs of recent descriptors such as ORB, FAST and BRISK. In this paper, we try to provide a performance evaluation of feature descriptors, and compare their matching precision and speed in KD-Tree setup with efficient computation of Hamming distance. The experimental results show that the recently proposed real valued descriptors such as ORB and FAST outperform state-of-the-art descriptors such SIFT and SURF in both, speed-up efficiency and precision/recall.

• The Journal of Korea Robotics Society
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• v.1 no.1
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• pp.25-35
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• 2006

Improving practicality of SLAM requires various sensors to be fused effectively in order to cope with uncertainty induced from both environment and sensors. In this case, combining sonar and vision sensors possesses numerous advantages of economical efficiency and complementary cooperation. Especially, it can remedy false data association and divergence problem of sonar sensors, and overcome low frequency SLAM update caused by computational burden and weakness in illumination changes of vision sensors. In this paper, we propose a SLAM method to join sonar sensors and stereo camera together. It consists of two schemes, extracting robust point and line features from sonar data and recognizing planar visual objects using multi-scale Harris corner detector and its SIFT descriptor from pre-constructed object database. And fusing sonar features and visual objects through EKF-SLAM can give correct data association via object recognition and high frequency update via sonar features. As a result, it can increase robustness and accuracy of SLAM in indoor environment. The performance of the proposed algorithm was verified by experiments in home -like environment.