• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1650-1654
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• 2004

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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• 제어로봇시스템학회 2003년도 ICCAS
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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.

• 제어로봇시스템학회논문지
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• 제17권9호
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• pp.902-907
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• 2011

In this paper, we deal with performance evaluation of visual path following using 2D and 3D information. Visual path follow first teaches driving path by selecting milestone images then follows the same route by comparing the milestone image and current image. We follow the visual path following algorithm of [8] and [10]. In [8], a robot navigated with 2D image information only. But in [10], local 3D geometries are reconstructed between the milestone images in order to achieve fast feature prediction which allows the recovery from tracking failures. Experimental results including diverse indoor cases show performance of each algorithm.

• 로봇학회논문지
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• 제18권3호
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• pp.260-270
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• 2023

We introduce a novel Visual Inertial Odometry (VIO) algorithm designed to improve the performance of thermal-inertial odometry. Thermal infrared image, though advantageous for feature extraction in low-light conditions, typically suffers from a high noise level and significant information loss during the 8-bit conversion. Our algorithm overcomes these limitations by approximating a 14-bit raw pixel histogram into a Gaussian mixture model. The conversion method effectively emphasizes image regions where texture for visual tracking is abundant while reduces unnecessary background information. We incorporate the robust learning-based feature extraction and matching methods, SuperPoint and SuperGlue, and zero velocity detection module to further reduce the uncertainty of visual odometry. Tested across various datasets, the proposed algorithm shows improved performance compared to other state-of-the-art VIO algorithms, paving the way for robust thermal-inertial odometry.

• 한국정밀공학회지
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• 제20권11호
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• pp.16-22
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• 2003

• Architectural research
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• 제21권4호
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• pp.91-98
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• 2019

In modern times, numerous cities are competing to create the unique skyline adjacent to the water. Tall buildings located across the river have a great contribution to the skyline of a riverfront city and can be a precious asset for the city. Moreover, in several cities, tall buildings and their impact on the urban skyline are a matter that should be considered and regulated in urban design. Therefore, as a prominent element in a larger visual setting of the city, tall buildings should improve the visual quality of the skyline rather than diminish that quality. This research attempts to provide an objective method to analyze the visual quality of the skyline made by a group of tall buildings through their feature of heights and spatial arrangement from riverfront views. The analysis is determined by the design variables of building heights variation, heights transition, density, and spacing of a group of tall buildings. A comparative case study of tall buildings in Yeouido and Lujiazui was conducted to prove the effectiveness of the analysis. The proposed method can be used in a simple way in the quantitative approach to quantify the visual quality of the skyline. In conclusion, Yeuido's skyline is not quite interesting from the riverfront view in terms of height variation and continuity of the skyline view because they are dispersed. Conversely, Lujiazui's skyline from the riverfront vantage points has a good quality in all aspects of the feature of height and spatial arrangements of tall buildings cluster. These factors can be used for the urban designer on how proposed tall buildings within the cluster should appropriately respond to adding image on the skyline.

• 한국정보전자통신기술학회논문지
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• 제10권1호
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• pp.9-15
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• 2017

본 연구에서는 웨이블릿 평면에서 대역 분할된 데이터를 특징 벡터로 하는 SVM을 이용한 ERP 검출 실험을 하였다. 뇌파 신호는 SCSD의 SCCN 뇌파 데이터베이스에 있는 시각적 자극(visual stimulus)을 이용하여 발생한 ERP를 사용하였다. 검출 알고리즘을 이용한 실험은 기존의 뇌파의 주파수 분석 데이터를 특징 벡터로 하는 방법과 웨이블릿 평면에서 전개된 뇌파 데이터를 특징 벡터로 하는 SVM 검출 방식을 비교하였다. 실험 결과는 기존의 특징 벡터를 이용하는 방법에 비하여 웨이블릿 평면에서 전개된 특징 벡터를 이용하는 SVM 방식이 EPR의 검출 율에서 약 10%의 향상된 성능을 나타내었다. 실험 결과에 대한 분석에서 웨이블릿 평면 특징 벡터를 적용한 SVM 실험 결과에서 검출율이 향상된 이유로서 대뇌 피질 활동이 ERP의 주파수 대역에 따른 활동성의 증감 특성과 ERP의 웨이블릿 평면 대역별 특성에 대한 비교 분석을 수행하였다.

• ETRI Journal
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• 제39권2호
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• pp.151-162
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• 2017

With the remarkable growth in rich media in recent years, people are increasingly exposed to visual information from the environment. Visual information continues to play a vital role in rich media because people's real interests lie in dynamic information. This paper proposes a novel discrete dynamic swarm optimization (DDSO) algorithm for video object tracking using invariant features. The proposed approach is designed to track objects more robustly than other traditional algorithms in terms of illumination changes, background noise, and occlusions. DDSO is integrated with a matching procedure to eliminate inappropriate feature points geographically. The proposed novel fitness function can aid in excluding the influence of some noisy mismatched feature points. The test results showed that our approach can overcome changes in illumination, background noise, and occlusions more effectively than other traditional methods, including color-tracking and invariant feature-tracking methods.

• 인지과학
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• 제10권3호
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• pp.1.2-1.2
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• 1999

시각적 선택에 대한 과거 정신물리학적, 신경 생리학적 연구결과를 토대로 Feature Gate 라는 신경 망 모형을 제안하였다. 이 모형에는 공간 배치도가 위계 적으로 구성되어 있으며, 정보의 흐름이 위계의 각 수준으로부터 그 다음 수준으로 넘어갈 때 주의 게이트에 의해 조절되도록 되어 있다. 주의 게이트들은 독특한 세부 특징을 가진 위치에 반응하는 상향식 시스템과 표적 세부 특징이 있는 위치에 반응하는 하향식 기제 모두에 의해 조절된다. 본 연구는 Feature Gate 모형의 하향식 기제에 초점을 맞추어 모형을 설명하고, 현재 다른 모형들이 설명하지 못하는 Moran & Desimone(1985)의 연구결과를 이 모형이 어떻게 설명하는지를 제시하고자 한다. Feature Gate 모형은 병렬 적인 세부특징 검색, 계열 적 접합표적 검색, 단서에 의한 주의의 점진적 감소 모형, 세부특징-주도적인 공간적 선택, 주의의 분할, 방해자극 위치의 억제, 주변 억제 등을 포함한 시각적 주의 연구의 여러 가지 많은 현상들을 설명하는데 하나의 일관적인 해석을 제공해 준다. 앞으로 이 모형을 더욱 확장, 발전 시켜 세부특징의 조합된 배열에 반응하는 상위 수준의 유닛을 사용한다면 시각적 선택과정이 포함된 형태 재인 모형으로 개발될 수 있다.

• 대한인간공학회지
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• 제30권1호
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• pp.195-202
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• 2011

Objective: The aim of this study is to investigate and review the previous researches about objective measuring fatigue caused by visual stimuli. Also, we analyze possibility of alternative visual fatigue measurement methods using facial expression recognition and gesture recognition. Background: In most previous researches, visual fatigue is commonly measured by survey or interview based subjective method. However, the subjective evaluation methods can be affected by individual feeling's variation or other kinds of stimuli. To solve these problems, signal and image processing based visual fatigue measurement methods have been widely researched. Method: To analyze the signal and image processing based methods, we categorized previous works into three groups such as bio-signal, brainwave, and eye image based methods. Also, the possibility of adopting facial expression or gesture recognition to measure visual fatigue is analyzed. Results: Bio-signal and brainwave based methods have problems because they can be degraded by not only visual stimuli but also the other kinds of external stimuli caused by other sense organs. In eye image based methods, using only single feature such as blink frequency or pupil size also has problem because the single feature can be easily degraded by other kinds of emotions. Conclusion: Multi-modal measurement method is required by fusing several features which are extracted from the bio-signal and image. Also, alternative method using facial expression or gesture recognition can be considered. Application: The objective visual fatigue measurement method can be applied into the fields of quantitative and comparative measurement of visual fatigue of next generation display devices in terms of human factor.