• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.800-803
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• 2004

This paper presents a wavelet-based digital watermarking technique for still images. The digital watermarking considering human visual system (HVS) to increase the robustness and perceptual invisibility of digital watermark. The watermarking embedding is modified discrete wavelet transform (DWT) coefficients of the subbands of the images. The human visual system is number of factors that effect the noise sensitivity of human eyes that is considered to increase the robustness and perceptual invisibility of digital watermark. The watermark detection is blind watermark ( original image is not required ). Experimental results successful against attacks by image processing such as add noise, cropping, filtering, JPEG and JPEG2000 compression.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.778-782
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• 2003

This paper presents how it is effective to use many features for improving the speed and the accuracy of the visual servo systems. Some rank conditions which relate the image Jacobian and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy with respect to the world coordinate system. Usefulness of the redundant features is verified by the real time experiments on a Dual-Arm Robot manipulator made in Samsung Electronic Co. Ltd.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.798-802
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• 2003

The robustness and reliability of vision algorithms is the key issue in robotic research and industrial applications. In this paper, the robust real time visual tracking in complex scene is considered. A common approach to increase robustness of a tracking system is to use different models (CAD model etc.) known a priori. Also fusion of multiple features facilitates robust detection and tracking of objects in scenes of realistic complexity. Because voting is a very simple or no model is needed for fusion, voting-based fusion of cues is applied. The approach for this algorithm is tested in a 3D Cartesian robot which tracks a toy vehicle moving along 3D rail, and the Kalman filter is used to estimate the motion parameters, namely the system state vector of moving object with unknown dynamics. Experimental results show that fusion of cues and motion estimation in a tracking system has a robust performance.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1106-1111
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• 2007

The visual inspection method that depends on human's eyes has some problem that a lot of variations happen in examination according to bodily, spiritual state of the checker. We automate remocon inspection process using CCD camera. Our developed inspection system can be used in any remocon production line without the user's big handling. Our inspection system was developed using PC, CCD Camera, Visual C++ for universal work place. The accuracy of proposed system was improved about 3.2[%] than the conventional pattern matching method and the processing time was decreased about 119[ms]. Also we showed that our inspection system is more robust to lighting circumstances.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.998-1004
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• 2008

In this paper, a visual servoing control technique of humanoid robot arms is implemented for tracking a moving object. An embedded time-delayed controller is designed on an FPGA(Programmable field gate array) chip and implemented to control humanoid robot arms. The position of the moving object is detected by a stereo vision camera and converted to joint commands through the inverse kinematics. Then the robot arm performs visual servoing control to track a moving object in real time fashion. Experimental studies are conducted and results demonstrate the feasibility of the visual feedback control method for a moving object tracking task by the humanoid robot arms called the ROBOKER.

• Proceedings of the IEEK Conference
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• 2002.07a
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• pp.273-276
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• 2002

Pulse-Coupled Neural Network (PCNN), which can explain the synchronous burst of neurons in a cat visual cortex, is a fundamental model for the biomimetic vision. The PCNN is a kind of pulse coded neural network models. In order to get deep understanding of the visual information Processing, it is important to simulate the visual system through such biologically plausible neural network model. In this paper, we construct the motion detection model based on the PCNN with the receptive field models of neurons in the lateral geniculate nucleus and the primary visual cortex. Then it is shown that this motion detection model can detect the movements and the direction of motion effectively.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.321-329
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• 2015

This paper addresses a new algorithm for a stereo visual odometry to measure the ego-motion of a vehicle. The new algorithm introduces an inlier grouping method based on Delaunay triangulation and vanishing point computation. Most visual odometry algorithms rely on RANSAC in choosing inliers. Those algorithms fluctuate largely in processing time between images and have different accuracy depending on the iteration number and the level of outliers. On the other hand, the new approach reduces the fluctuation in the processing time while providing accuracy corresponding to the RANSAC-based approaches.

• Transactions of the Korean Society of Pressure Vessels and Piping
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• v.6 no.1
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• pp.9-15
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• 2010

This paper describes the Visual Tool for automatic ultrasonic examination that is under developing as a part of the project for development of automatic ultrasonic wave acquisition and analysis program. This tool that is supported by various image processing techniques will be adopted to detect the flaws in the component and piping welds in NPP. Visual Tool will enhance the integrity of nuclear power plant. The object of this paper is to address the Visual Tool which is developing for automatic ultrasonic inspection of welds in NPP.

• Journal of Biomedical Engineering Research
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• v.22 no.3
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• pp.259-267
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• 2001

The visual evoked potentials(VEPs) is used to assist in the diagnosis of specific disorders associated with involvement of the sensory visual pathways. The P100 latency is an important parameter which is diagnosis of optic nerve disorders. There are characteristics of latency delay, wave distortion, amplitude deduction in abnormal subjects. It is difficult to diagnose in the case of producing peak at the P100 latency. In this paper, difference of pattern between normal VEPs and abnormal VEPs using the Choi-Williams distribution method is studied. We observed the relationship about time and spectrum. The result shown that normal VEPs had maximum spectral value at 20Hz~26.7Hz and abnormal VEPs had maximum spectral value at 16.7Hz~20Hz. Also normal VEPs spectrum is higher than abnormal VEPs spectrum.

• Journal of the Korean housing association
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• v.10 no.2
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• pp.247-257
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• 1999

This study is aimed to propose the evaluation model of forecasting visual quality of apartment buildings, which would be a useful tool to make the architectural concepts corresponding to user needs. This study was carried out through the four-step experiments as follows. The first step is to take the user's visual evaluation construct. To do this, the 22 adjective phrases were extracted, which were applicable to all apartment buildings. The second step is to analyze the user's visual preference, which is measured by the user's psychological quantity on the apartment buildings by S. D.(Semantic Differential) Method. The third step is to analyzethe five psychological-factors obtained from the Factor Analysis. The perceptual images on the 41 experimental subjects were checked up through evaluating and analyzing the factor scores of each subjects for each psychological-factor. The fourth step is to analyze, the similarity of various characters in a building, which is mirrored on the user's psychological quantity and how buildings are grouped by it.