• 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.

• Journal of Digital Convergence
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• v.11 no.12
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• pp.295-302
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• 2013

Many reported methods assume that the people in an image or an image sequence have been identified and localization. People detection is one of very important variable to affect for the system's performance as the basis technology about the detection of other objects and interacting with people and computers, motion recognition. In this paper, we present an efficient linear discriminant for multi-view people detection. Our approaches are based on linear discriminant. We define training data with fisher Linear discriminant to efficient learning method. People detection is considerably difficult because it will be influenced by poses of people and changes in illumination. This idea can solve the multi-view scale and people detection problem quickly and efficiently, which fits for detecting people automatically. In this paper, we extract people using fisher linear discriminant that is hierarchical models invariant pose and background. We estimation the pose in detected people. The purpose of this paper is to classify people and non-people using fisher linear discriminant.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.482-486
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• 2009

Conventional music players offer simple replay and one way entertainment. The paper presents an algorithm to extract, within a digitally recorded music file, the temporal information of a sequence of target notes (i.e. melody). We assume to have the score (e.g. MIDI or printed score), and using this information, it becomes possible to first sequentially predict the probable location of the target notes. However, recorded music is hardly performed according to the score, especially temporally. Thus, additional analysis is carried out to hone in on the exact location of the target note from the initially predicted location. This prediction and correction process is repeated to find one note after another. This allows us to develop an interactive music player that is enacted by rhythmic interaction, and induce a new user experience, i.e. as if one is playing the music oneself.

• Molecules and Cells
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• v.22 no.2
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• pp.146-153
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• 2006

Cell polarity is critical for the division, differentiation, migration, and signaling of eukaryotic cells. RAX2 of budding yeast encodes a membrane protein localized at the cell cortex that helps maintain the polarity of the bipolar pattern. Here, we designate SPAC6f6.06c as $rax2^+$ of Schizosaccharomyces pombe, based on its sequence homology with RAX2, and examine its function in cell polarity. S. pombe $rax2^+$ is not essential, but ${\Delta}rax2$ cells are slightly smaller and grow slower than wild type cells. During vegetative growth or arrest at G1 by mutation of cdc10, deletion of $rax2^+$ increases the number of cells failing old end growth just after division. In addition, this failure of old end growth is dramatically increased in ${\Delta}tea1{\Delta}rax2$, pointing to genetic interaction of $rax2^+$ with $tea1^+$. ${\Delta}rax2$ cells contain normal actin and microtubule cytoskeletons, but lack actin cables, and the polarity factor for3p is not properly localized at the growing tip. In ${\Delta}rax2$ cells, and endogenous rax2p is localized at the cell cortex of growing cell tips in an actin- and microtubule-dependent manner. However, ${\Delta}rax2$ cells show no defects in cell polarity during shmoo formation and conjugation. Taken together, these observations suggest that rax2p controls the cell polarity of fission yeast during vegetative growth by regulating for3p localization.