• 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.

• Journal of KIISE:Software and Applications
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• v.31 no.10
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• pp.1386-1399
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• 2004

This paper presents correlation-based automatic image captioning. Given a training set of annotated images, we want to discover correlations between visual features and textual features, so that we can automatically generate descriptive textual features for a new unseen image. We develop models with multiple design alternatives such as 1) adaptively clustering visual features, 2) weighting visual features and textual features, and 3) reducing dimensionality for noise sup-Pression. We experiment thoroughly on 10 data sets of various content styles from the Corel image database, about 680MB. The major contributions of this work are: (a) we show that careful weighting visual and textual features, as well as clustering visual features adaptively leads to consistent performance improvements, and (b) our proposed methods achieve a relative improvement of up to 45% on annotation accuracy over the state-of-the-art, EM approach.

• The Journal of the Korea Contents Association
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• v.6 no.1
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• pp.41-53
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• 2006

In this paper, an adaptive ROI(region of interest) detection system for spatialtemporal features is proposed. It utilizes spatiotemporal features for the purpose of detecting ROI. It is assumed that motion representing temporal visual conspicuity between adjacent frames takes higher priority over spatial visual conspicuity. Because objects or regions in motion usually draw stronger attention than others in motion pictures. In case of still images visual features that constitute topographic feature maps are used as spatial features. Comparative experiments with a human subjective evaluation show that correct detection rate of visual attention region is improved by exploiting both spatial and temporal features compared to the case of exploiting either feature.

• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.263-269
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• 2008

Visual odometry is a popular approach to estimating robot motion using a monocular or stereo camera. This paper proposes a novel visual odometry scheme using a stereo camera for robust estimation of a 6 DOF motion in the dynamic environment. The false results of feature matching and the uncertainty of depth information provided by the camera can generate the outliers which deteriorate the estimation. The outliers are removed by analyzing the magnitude histogram of the motion vector of the corresponding features and the RANSAC algorithm. The features extracted from a dynamic object such as a human also makes the motion estimation inaccurate. To eliminate the effect of a dynamic object, several candidates of dynamic objects are generated by clustering the 3D position of features and each candidate is checked based on the standard deviation of features on whether it is a real dynamic object or not. The accuracy and practicality of the proposed scheme are verified by several experiments and comparisons with both IMU and wheel-based odometry. It is shown that the proposed scheme works well when wheel slip occurs or dynamic objects exist.

• International Journal of Contents
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• v.2 no.1
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• pp.5-8
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• 2006

This paper describes a new mechanism of detecting object of interest from a noisy image, without using any a-priori knowledge about the target. It employs a parallel set of filters inspired upon biological findings of mammalian vision. In our proposed system, several basic features are extracted directly from original input visual stimuli, and these features are integrated based on their local competitive relations and statistical information. Through integration process, unnecessary features for detecting the target are spontaneously decreased, while useful features are enhanced. Experiments have been performed on a set of computer generated and real images corrupted with noise.

• Journal of Information Processing Systems
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• v.16 no.6
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• pp.1250-1260
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• 2020

This study proposes a novel deep neural network model that can accurately detect objects and their relationships in an image and represent them as a scene graph. The proposed model utilizes several multimodal features, including linguistic features and visual context features, to accurately detect objects and relationships. In addition, in the proposed model, context features are embedded using graph neural networks to depict the dependencies between two related objects in the context feature vector. This study demonstrates the effectiveness of the proposed model through comparative experiments using the Visual Genome benchmark dataset.

• The Journal of the Korea Contents Association
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• v.6 no.5
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• pp.20-28
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• 2006

This paper proposes visual-feature extraction for each band in wavelet domain with both spatial frequency features and multi resolution features, and the combination of visual features using fuzzy integral. In addition, it uses color feature expression method taking advantage of the frequency of the same color after color quantization for reducing quantization error, a disadvantage of the existing color histogram intersection method. Also, it is found that the final similarity can be represented in a linear combination of the respective factors(Homogram, color, energy) when each factor is independent one another. With respect to the combination patterns the fuzzy measurement is defined and the fuzzy integral is taken. Experiments are peformed on a database containing 1,000 color images. The proposed method gives better performance than the conventional method in both objective and subjective performance evaluation.

• Journal of Biosystems Engineering
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• v.19 no.2
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• pp.124-137
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• 1994

Visual features of a mushroom(Lentinus Edodes, L.) are critical in grading and sorting as most agricultural products are. Because of its complex and various visual features, grading and sorting of mushrooms have been done manually by the human expert. To realize the automatic handling and grading of mushrooms in real time, the computer vision system should be utilized and the efficient and robust processing of the camera captured visual information be provided. Since visual features of a mushroom are distributed over the front and back sides, recognizing sides and states of the stalk including the stalk orientation from the captured image is a prime process in the automatic task processing. In this paper, the efficient and robust recognition process identifying the front and back side and the state of the stalk was developed and its performance was compared with other recognition trials. First, recognition was tried based on the rule set up with some experimental heuristics using the quantitative features such as geometry and texture extracted from the segmented mushroom image. And the neural net based learning recognition was done without extracting quantitative features. For network inputs the segmented binary image obtained from the combined type automatic thresholding was tested first. And then the gray valued raw camera image was directly utilized. The state of the stalk seriously affects the measured size of the mushroom cap. When its effect is serious, the stalk should be excluded in mushroom cap sizing. In this paper, the stalk removal process followed by the boundary regeneration of the cap image was also presented. The neural net based gray valued raw image processing showed the successful results for our recognition task. The developed technology through this research may open the new way of the quality inspection and sorting especially for the agricultural products whose visual features are fuzzy and not uniquely defined.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1944-1948
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• 2005

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

• Journal of Korea Multimedia Society
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• v.18 no.3
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• pp.359-367
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• 2015

In this paper, we propose intelligent fire learning and detection system using hybrid visual attention mechanism of human. Proposed fire learning system generates leaned data by learning process of fire and smoke images. The features used as learning feature are selected among many features which are extracted based on bottom-up visual attention mechanism of human, and these features are modified as learned data by calculating average and standard variation of them. Proposed fire detection system uses learned data which is generated in fire learning system and features of input image to detect fire.