• Journal of Multimedia Information System
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• 제9권1호
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• pp.1-10
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• 2022

China is a big country in animal fur industry. The total production and consumption of fur are increasing year by year. However, the recognition of fur in the fur production process still mainly relies on the visual identification of skilled workers, and the stability and consistency of products cannot be guaranteed. In response to this problem, this paper proposes a feature fusion-based animal fur recognition network on the basis of typical convolutional neural network structure, relying on rapidly developing deep learning techniques. This network superimposes texture feature - the most prominent feature of fur image - into the channel dimension of input image. The output feature map of the first layer convolution is inverted to obtain the inverted feature map and concat it into the original output feature map, then Leaky ReLU is used for activation, which makes full use of the texture information of fur image and the inverted feature information. Experimental results show that the algorithm improves the recognition accuracy by 9.08% on Fur_Recognition dataset and 6.41% on CIFAR-10 dataset. The algorithm in this paper can change the current situation that fur recognition relies on manual visual method to classify, and can lay foundation for improving the efficiency of fur production technology.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.1087-1090
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• 2004

stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the position of the target using a stereo vision system. In this paper we persent a visual approach to the problem of object grasping. First we propose object recognization method which can find the object position and pose using feature points. A robot recognizes the feature point to Object. So a number of feature point is the more, the better, but if it is overly many, the robot have to process many data, it makes real-time image processing ability weakly. In other to avoid this problem, the robot selects only two point and recognize the object by line made by two points. Second we propose trajectory planing of the robot manipulator. Using grometry of between object and gripper, robot can find a goal point to translate the robot manipulator, and then it can grip the object successfully.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제15권8호
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• pp.3011-3024
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• 2021

Pose estimation of the sensor is important issue in many applications such as robotics, navigation, tracking, and Augmented Reality. This paper proposes visual-inertial integration system appropriate for dynamically moving condition of the sensor. The orientation estimated from Inertial Measurement Unit (IMU) sensor is used to calculate the essential matrix based on the intrinsic parameters of the camera. Using the epipolar geometry, the outliers of the feature point matching are eliminated in the image sequences. The pose of the sensor can be obtained from the feature point matching. The use of IMU sensor can help initially eliminate erroneous point matches in the image of dynamic scene. After the outliers are removed from the feature points, these selected feature points matching relations are used to calculate the precise fundamental matrix. Finally, with the feature point matching relation, the pose of the sensor is estimated. The proposed procedure was implemented and tested, comparing with the existing methods. Experimental results have shown the effectiveness of the technique proposed in this paper.

• 방송공학회논문지
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• 제12권5호
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• pp.391-400
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• 2007

애니메이션을 제작함에 있어 표현에 대한 방식은 실로 무궁무진하며 그것이야말로 실사영화에서는 볼 수 없는 애니메이션만이 가진 표현의 강점이며 관객들에게 어필할 수 있는 최대의 무기중 하나이다. 그럼에도 불구하고 극장 상영을 위한 장편 애니메이션을 제작함에 있어서 제작자들에게 선택되어온 제작기법은 Drawing, 3D Computer, Clay등과 같이 지극히 획일적이다. 상업적인 목적을 가지고 제작된 애니메이션은 시각적인 스타일면에서 대중성을 확보해야 하지만 표현성에서 대중적이라 함은 획일화되어 있는 스타일과 제작기법을 의미하는 것은 아니며 대중을 매료시킬 수 있는 예술성이라는 측면에서 이해되어야 한다. 관객은 항상 새로운 소재, 새로운 연출, 새로운 시각적 스타일을 원한다. 천편일률적으로 파일화 된 애니메이션은 관객들에게 외면 당 할 수밖에 없을 것이다 따라서 상업적인 목적으로 기획, 제작되어진 애니메이션이라 할지라도 작품자체가 예술적 가치를 지니고 있지 못한다면 가시적인 상업적 가치 또한 기대하기 어렵다. 애니메이션을 제작하기 위해 시각적 스타일을 디자인한다는 것은 아트워크 자체에 국한되는 문제가 아니며 작품의 내용과 분위기 그리고 캐릭터가 반영된 움직임의 스타일까지 포함되는 디자인이어야 한다. 여기에 더해 완성된 디자인을 제작적인 측면에서 실현할 수 있도록 제작 프로세스 또한 치밀하게 계산되고 실험되어야 한다.

• 제어로봇시스템학회논문지
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• 제11권12호
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• pp.1083-1087
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• 2005

As development of digital technology, many kinds of multimedia data are used variously and requirements for effective use by user are increasing. In order to transfer information fast and precisely what user wants, effective retrieval method is required. As existing multimedia data are impossible to apply the MPEG-1, MPEG-2 and MPEG-4 technologies which are aimed at compression, store and transmission. So MPEG-7 is introduced as a new technology for effective management and retrieval of multimedia data. In this paper, we extract content-based features using color descriptor among the MPEG-7 standardization visual descriptor, and reduce feature data applying PCA(Principal Components Analysis) technique. We model the cerebral cortex and hippocampal neural network in engineering domain, and team content-based feature vectors fast and apply the hippocampal neural network algorithm to compose of optimized feature. And then we present fast and precise retrieval effect when indexing and retrieving.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.874-879
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• 1992

It is shown that there exists a nonlinear mappping which transforms features and their changes to the desired camera motion without measurement of the relative distance between the camera and the part, and the nonlinear mapping can eliminate several difficulties encountered when using the inverse of the feature Jacobian as in the usual feature-based visual feedback controls. And instead of analytically deriving the closed form of such a nonlinear mapping, a fuzzy membership function (FMF) based neural network is then proposed to approximate the nonlinear mapping, where the structure of proposed networks is similar to that of radial basis function neural network which is known to be very useful in function approximations. The proposed FMF network is trained to be capable of tracking moving parts in the whole work space along the line of sight. For the effective implementation of proposed IMF networks, an image feature selection processing is investigated, and required fuzzy membership functions are designed. Finally, several numerical examples are illustrated to show the validities of our proposed visual servoing method.

• 대한임베디드공학회논문지
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• 제11권4호
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• pp.219-225
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• 2016

Visual object tracking is one of the key tasks in computer vision. Robust trackers should address challenging issues such as fast motion, deformation, occlusion and so on. In this paper, we therefore propose a visual object tracking method that exploits inter-frame correlations of convolutional feature maps in Convolutional Neural Net (ConvNet). The proposed method predicts the location of a target by considering inter-frame spatial correlation between target location proposals in the present frame and its location in the previous frame. The experimental results show that the proposed algorithm outperforms the state-of-the-art work especially in hard-to-track sequences.

• Journal of Electrical Engineering and Technology
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• 제8권2호
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• pp.385-392
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• 2013

An uncalibrated visual servo control method for tracking a target is presented. We define the robot-positioning problem as an unconstrained optimization problem to minimize the image error between the target feature and the robot end-effector feature. We propose a method to find the residual term for more precise modeling using the secant approximation method. The composite image Jacobian is estimated by the proper method for eye-to-hand configuration without knowledge of the kinematic structure, imaging geometry and intrinsic parameter of camera. This method is independent of the motion of a target feature. The algorithm for regulation of the joint velocity for safety and stability is presented using the cost function. Adaptive regulation for visibility constraints is proposed using the adaptive parameter.

• 제어로봇시스템학회논문지
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• 제6권6호
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• pp.462-470
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• 2000

This paper proposes a visual servoing method based on QR decomposition and disturbance observer. The QR decomposition factors the image feature Jacobian into a unitary matrix and an upper triangular matrix. And it is shown that several performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise and controllability can be improved for any general image feature Jacobian by QR decomposition and disturbance observer. To show the validity of the proposed approach, visual servoing with stereo vision is carried out for a Samsung FARAMAN 6-axis industrial robot manipulator.

• 전기학회논문지
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• 제64권3호
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• pp.465-472
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• 2015

This paper presents a visual touch recognition for NUI(Natural User Interface) using Voronoi-tessellation algorithm. The proposed algorithms are three parts as follows: hand region extraction, hand feature point extraction, visual-touch recognition. To improve the robustness of hand region extraction, we propose RGB/HSI color model, Canny edge detection algorithm, and use of spatial frequency information. In addition, to improve the accuracy of the recognition of hand feature point extraction, we propose the use of Douglas Peucker algorithm, Also, to recognize the visual touch, we propose the use of the Voronoi-tessellation algorithm. Finally, we demonstrate the feasibility and applicability of the proposed algorithms through some experiments.