• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.179-188
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• 2021

Construction monitoring is one of the key modules in smart construction. Unlike structured urban environment, construction site mapping is challenging due to the characteristics of an unstructured environment. For example, irregular feature points and matching prohibit creating a map for management. To tackle this issue, we propose a system for data acquisition in unstructured environment and a framework for Intensity and Ambient Enhanced Lidar Inertial Odometry via Smoothing and Mapping, IA-LIO-SAM, that achieves highly accurate robot trajectories and mapping. IA-LIO-SAM utilizes a factor graph same as Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping (LIO-SAM). Enhancing the existing LIO-SAM, IA-LIO-SAM leverages point's intensity and ambient value to remove unnecessary feature points. These additional values also perform as a new factor of the K-Nearest Neighbor algorithm (KNN), allowing accurate comparisons between stored points and scanned points. The performance was verified in three different environments and compared with LIO-SAM.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.43 no.2 s.308
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• pp.21-32
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• 2006

The license plate recognition (LPR) unit consists of the following core components: plate region segmentation, individual character extraction, and character recognition. Out of the above three components, accuracy in the performance of plate region segmentation determines the overall recognition rate of the LPR unit. This paper proposes an algorithm for segmenting the license plate region on the front or rear of a vehicle in a fast and accurate manner. In the case of the proposed algorithm images are captured on the spot where unmanned monitoring of illegal parking and stowage is performed with a variety of roadway environments taken into account. As a means of enhancing the segmentation performance of the on-the-spot-captured images of license plate regions, the proposed algorithm uses a mathematical model for license plate colors to convert color images into digital data. In addition, this algorithm uses Gaussian smoothing and double threshold to eliminate image noises, one-pass boundary tracing to do region labeling, and MBR to determine license plate region candidates and extract individual characters from the determined license plate region candidates, thereby segmenting the license plate region on the front or rear of a vehicle through a verification process. This study contributed to addressing the inability of conventional techniques to segment the license plate region on the front or rear of a vehicle where the frame of the license plate is damaged, through processing images in a real-time manner, thereby allowing for the practical application of the proposed algorithm.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.118-123
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• 2009

In this paper, we propose packet selection and significance based interval allocation algorithm for real-time streaming service. In real-time streaming of inter-frame (and layer) coded video, minimizing packet loss does not imply maximizing QoS. It is true that packet loss adversely affects the QoS but one single packet can have more impact than several other packets. We exploit the fact that the significance of each packet loss is different from the frame type it belongs to and its position within GoP. Using packet dependency and PSNR degradation value imposed on the video from the corresponding packet loss, we find each packet's significance value. Based on the packet significance, the proposed algorithm determines which packets to send and when to send them. The proposed algorithm is tested using publicly available MPEG-4 video traces. Our scheduling algorithm brings significant improvement on user perceivable QoS. We foresee that the proposed algorithm manifests itself in last mile connection of the network where intervals between successive packets from the source and to the destination are well preserved.

• Journal of KIISE:Software and Applications
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• v.32 no.3
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• pp.173-180
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• 2005

This paper proposes an effective algorithm that combines both the stereo matching and the marching cube algorithm. By applying the stereo matching technique to an image obtained from various angles, 3D geometry data are acquired, and using the camera extrinsic parameter, the images are combined. After reconstructing the combined data into mesh using the image index, the normal vector equivalent to each point is obtained and the mesh smoothing is processed. This paper describes the successive processes and techniques on the 3D mesh reconstruction, and by proposing the intermediate iso- surface algorithm. Therefore it improves the 3D data instability problem caused when using the conventional marching cube algorithm.

• International Journal of Contents
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• v.11 no.2
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• pp.15-19
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• 2015

In this paper, we propose an efficient document layout analysis algorithm that includes table detection. Typical methods of document layout analysis use the height and gap between words or columns. To correspond to the various styles and sizes of documents, we propose an algorithm that uses the mean value of the distance transform representing thickness and compare with components in the local area. With this algorithm, we combine a table detection algorithm using the same feature as that of the text classifier. Table candidates, separators, and big components are isolated from the image using Connected Component Analysis (CCA) and distance transform. The key idea of text classification is that the characteristics of the text parallel components that have a similar thickness and height. In order to estimate local similarity, we detect a text region using an adaptive searching window size. An improved adaptive run-length smoothing algorithm (ARLSA) was proposed to create the proper boundary of a text zone and non-text zone. Results from experiments on the ICDAR2009 page segmentation competition test set and our dataset demonstrate the superiority of our dataset through f-measure comparison with other algorithms.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.3
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• pp.327-334
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• 2011

It is necessary that UGV(Unmanned Ground Vehicle) should generate a real-time travesability index map by analyzing raw terrain information to travel autonomously tough terrain which has various slope and roughness values. In this paper, we propose a local path planning method, $MA^*$(Modified $A^*$) algorithm, using DVGM (Directional Velocity Grid Map) for unmanned ground vehicle. We also present a path optimization algorithm and a path smoothing algorithm which regenerate a pre-planned local path by $MA^*$ algorithm into the reasonable local path considering the mobility of UGV. Field test is conducted with UGV in order to verify the performance of local path planning method using DVGM. The local path planned by $MA^*$ is compared with the result of $A^*$ to verify the safety and optimality of proposed algorithm.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.10a
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• pp.465-468
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• 2007

An intelligent home network system using low-power and low-cost sensor nodes was designed and implemented. In Intelligent Home Network System, active home appliances control is composed of RSSI (Received Signal Strength Indicator) based user indoor location tracking, dynamic multi-hop routing, and learning integration remote-control. Through the remote-control learning, home appliances can be controlled in wireless network environment. User location information for intelligent service is calculated using RSSI based Triangle measurement method, and then the received location information is passed to Smoothing Algorithm to reduce error rate. In order to service Intelligent Home Network, moreover, the sensor node is designed to be held by user. The gathered user data is transmitted through dynamic multi-hop routing to server, and real-time user location & environment information are displayed on monitoring program.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2011.10a
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• pp.930-933
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• 2011

This paper addresses an adaptive postprocessing method applied in the spatial domain for block-based discrete cosine transform (BDCT) coded images. The proposed algorithm is designed by a serial concatenation of a 1D simple smoothing filter and a 2D directional filter. The 1D smoothing filter is applied according to the block type, which is determined by an adaptive threshold. It depends on local statistical properties, and updates block types appropriately by a simple rule, which affects the performance of deblocking processes. In addition, the 2D directional filter is introduced to suppress the ringing effects at the sharp edges and the block discontinuities while preserving true edges and textural information. Comprehensive experiments indicate that the proposed algorithm outperforms many deblocking methods in the literature, in terms of PSNR and subjective visual quality evaluated by GBIM.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.12 no.12
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• pp.2337-2342
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• 2008

In this paper, we propose the novel approach to enhance the visual quality of the digital image with adaptively sharpening and removing the noise. Image enhancement is performed in two ways. The pixels in the high dynamics area are sharpened by the adaptive unsharp mask with the parameter, which is derived using the statistical information of the image. On the other hand, the proposed algorithm do not perform the sharpening process in the uniform area that may cause the undesired artifact due to noise amplification, rather it performs smoothing to suppress the noise in this area. The decision, which process will be applied at the pixel, is also controlled by the statistics of the pixel dynamics. The proposed algorithm enhances the visual quality almost automatically by sharpening and smoothing at the same time with less parameter selection.

• Journal of Biomedical Engineering Research
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• v.19 no.6
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• pp.551-562
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• 1998

Amultiresolution filtering algorithm based on the physical SPECT lesion detachability provides and optimal solution for SPECT reconstruction problem. Related to the previous study, we estimated the SPECT lesion detection capability by m minimum detectable lesion sizes (MDLSs), and generated m reconstruction filters which are designed to maximize the smoothing effect at a fixed MDLS-dependent resolution level $\frac{MDLS}{4\sqrt{2In2}}$. The proposed multiresolution filtering algorithm used a coarse-to-fine approach for the m-level resolution filter images obtained from these m filters for a given projection image. First, the local homogeneity is determined for every pixel of the filter images, by comparing the local variance value computed in a window centered at the pixel and the mode determined from the distribution of the local variances. Based on the local homogeneity, the pixels declared as homogeneous are chosen from the filter image of the lowest resolution, and for the other pixels the same process is repeated for the higher resolution filter images. For the non-homogeneous pixels after this pixels after this repetition process ends, the pixel values of the highest resolution filter image are substituted. From the results of the simulated experiments, the proposed multiresolution filtering algorithm showed a strong smoothing effect in the homogeneous regions and a significant resolution improvement near the edge regions of the projection images, and so produced good adaptability effects in the reconstructed images.