• 로봇학회논문지
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• 제4권3호
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• pp.177-184
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• 2009

This paper presents an active assisted-living system in wireless sensor and actor network (WSAN) in which the mobile robot roles an actor. In order to provide assisted-living service to the elderly people, position recognition of the sensor node attached on the user and localization of the mobile robot should be performed at the same time. For the purpose, we use received signal strength indication (RSSI) to find the position of the person and ubiquitous sensor nodes including ultrasonic sensor which performs both transmission of sensor information and localization like global positioning system. Active services are moving to the elderly people by detecting activity sensor and visual tracking and voice chatting with remote monitoring system.

• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1998년도 추계학술대회
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• pp.261-262
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• 1998

The purpose of this study is to develop 2D brachy-therapy plannig system using Visual C++ on the IBM PC. The method of Semi-orthogonal Localization was used and dose calculation is based on point dose computation model. The GUI of this planning system was designed for user's convenience and the dose distribution of Cs137 brachy-therapy is demonstrated.

• 생명과학회지
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• 제23권6호
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• pp.804-811
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• 2013

Melanopsin은 옵신과 비슷한 광색소로 망막 광민감성 신경절 세포에서 적은 비율로 발견 된다. Melanopsin은 일주기 리듬조절에 관여 하고 동공반사를 조절한다. 이번 연구의 목적은 melanopsin이 망막 이외의 중추 시각계 에서도 발견 되는지를 알아 보는 것이다. 우리는 생쥐 시각 피질에 존재하는 melanopsin을 가지는 신경세포를 면역조직화학법을 통해 염색하여 melanopsin의 분포와 형태를 분석하였다. Melanopsin 면역반응은 핵을 제외한 신경세포의 세포체에서 일어났다. 우리는 melanopsin이 성체 생쥐의 시각 피질의 2,3층에서 높은 밀도로 모여서 존재하는 것을 확인했다. 시각 피질 1층에서 melanopsin 면역반응을 보인 신경세포는 드물게 발견 되었다. 생쥐 시각 피질에서 발견된 melanopsin의 세포종류는 주로 round/oval 세포였으나, vertical fusiform 그리고 pyramidal 세포 등도 드물게 발견 되었다. 염색된 세포들의 분포는 특이적이지 않았다. 우리의 실험 데이터로 melanopsin이 시각피질에도 분포한다는 것을 알 수 있었다. 또한, melanopsin을 가지는 신경세포는 nitric oxide synthase, calbindin and parvalbumin과도 같이 발현 되는 것을 관찰했다. 이러한 실험결과는 망막 이외의 부분에서 발견되는 melanopsin의 기능에 대한 연구가 필요함을 야기한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2011년도 제42회 하계학술대회
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• pp.1934-1935
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• 2011

In order for a service robot to perform several tasks, basically autonomous navigation technique such as localization, mapping, and path planning is required. The localization (estimation robot's pose) is fundamental ability for service robot to navigate autonomously. In this paper, we propose a new system for point pattern matching based visual global localization using spot lightings in ceiling. The proposed algorithm us suitable for system that demands high accuracy and fast update rate such a guide robot in the exhibition. A single camera looking upward direction (called ceiling vision system) is mounted on the head of the mobile robot and image features such as lightings are detected and tracked through the image sequence. For detecting more spot lightings, we choose wide FOV lens, and inevitably there is serious image distortion. But by applying correction calculation only for the position of spot lightings not whole image pixels, we can decrease the processing time. And then using point pattern matching and least square estimation, finally we can get the precise position and orientation of the mobile robot. Experimental results demonstrate the accuracy and update rate of the proposed algorithm in real environments.

• 한국멀티미디어학회논문지
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• 제22권4호
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• pp.417-423
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• 2019

This paper presents an evaluation system to determine the completeness of a space map obtained by a visual SLAM(Simultaneous Localization And Mapping) algorithm. The proposed system consists of three parts. First, the proposed system detects the occurrence of loop closing to confirm that users acquired the information from all directions. Thereafter, the acquired map is divided with regular intervals and is verified whether each area has enough map points to successfully estimate users' position. Finally, to check the effectiveness of each map point, the system checks whether the map points are identifiable even at the location where there is a large distance difference from the acquisition position. Experimental results show that space maps whose completeness is proven by the proposed system has higher stability and accuracy in terms of position estimation than other maps that are not proven.

• 로봇학회논문지
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• 제18권1호
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• pp.66-71
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• 2023

As cameras have become primary sensors for mobile robots, vision based Simultaneous Localization and Mapping (SLAM) has achieved impressive results with the recent development of computer vision and deep learning. However, vision information has a disadvantage in that a lot of information disappears in a low-light environment. To overcome the problem, we propose an image enhancement method to perform visual SLAM in a low-light environment. Using the deep generative adversarial models and modified gamma correction, the quality of low-light images were improved. The proposed method is less sharp than the existing method, but it can be applied to ORB-SLAM in real time by dramatically reducing the amount of computation. The experimental results were able to prove the validity of the proposed method by applying to public Dataset TUM and VIVID++.

• 한국지능시스템학회논문지
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• 제19권4호
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• pp.478-484
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• 2009

음성 인식 기술은 편리한 삶을 추구하는 요즘 추세에 HMI를 위해 매력적인 기술이다. 음성 인식기술에 대한 많은 연구가 진행되고 있으나 여전히 잡음 환경에서의 성능은 취약하다. 이를 해결하기 위해 요즘은 청각 정보 뿐 아니라 시각 정보를 이용하는 시각 음성인식에 대한 연구가 활발히 진행되고 있다. 본 논문에서는 모바일 환경에서의 시각 음성인식을 위한 입술의 탐지 방법을 제안한다. 시각 음성인식을 위해서는 정확한 입술의 탐지가 필요하다. 우리는 입력 영상에서 입술에 비해 보다 찾기 쉬운 눈을 이용하여 눈의 위치를 먼저 탐지한 후 이 정보를 이용하여 대략적인 입술 영상을 구한다. 구해진 입술 영상에 K-means 집단화 알고리듬을 이용하여 영역을 분할하고 분할된 영역들 중 가장 큰 영역을 선택하여 입술의 양 끝점과 중심을 얻는다. 마지막으로, 실험을 통하여 제안된 기법의 성능을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.202-205
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• 2005

The purpose of this work is to identify the characteristic of eye movement for visual training of the elderly. This investigation is to examine the relationship between the head and the eye motor system for the localization of visual target direction in three-dimensional space. All experiments were performed in a soundproof chamber. Twenty-one red LEDs (Light-Emitting Diode, Brightness: 20cd/$m^2$) arrayed in three lines on a half circle-surrounding panel are used. LEDs are horizontally 30 degree apart and vertically 20 degree apart from each other. The condition of stimulation is random and anti-saccade. Physiological parameter such as EOG (Electro-Oculography) was measured by BIOPAC system. We measure the mean latency time, which is the time from the start of visual stimulation to the response of the human body. The result shows that the mean latency time is short in the case of the condition of anti-saccade, the fixed head and a quarter visual stimulation. This finding can be used in developing programs for various visual improvements for the elderly by analyzing the characteristic of eye movement.

• 한국멀티미디어학회논문지
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• 제25권5호
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• pp.730-738
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• 2022

Based on visual Thinking theory, VR(virtual reality) game changes the traditional form of memory and maps the content into game elements to realize the immersive spatial memory mode. This paper analyzes the influencing factors of game design and system function construction. This paper proposes a hypothesis: with the help of visual thinking theory, VR game is helpful to improve learners' visual memory, and carries out research. The experiment sets different levels of game through empirical research and case analysis of memory flip game. For example, when judging two random cards. If the pictures are the same, it will be judged as the correct combination; if they are different, the two cards will be restored to the original state. The results are analyzed by descriptive statistical analysis and AMOS data analysis. The results show that game content using the concept of "Memory Palace", which can improve the accuracy of memory. We conclude that the use of spatial localization characteristics in flip games combining visual thinking can improve users' memory by helping users memorize and organize information in a Virtual environment, which means VR games have strong feasibility and effectiveness in improving memory.

• 대한원격탐사학회지
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• 제37권5_1호
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• pp.1095-1109
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• 2021

안전한 자율주행을 위해 정확한 자기위치 측위와 주변지도 생성은 무엇보다 중요하다. 고가의 고정밀위성항법시스템(Global Positioning System, GPS), 관성측정장치(Inertial Measurement Unit, IMU), 라이다(Light Detection And Ranging, LiDAR), 레이더(Radio Detection And Ranging, RADAR), 주행거리측정계(Wheel odometry) 등의 많은 센서를 조합하여 워크스테이션급의 PC장비를 사용하여 센서데이터를 처리하면, cm급의 정밀한 자기위치 계산 및 주변지도 생성이 가능하다. 하지만 과도한 데이터 정합비용과 경제성 부족으로 고가의 장비 조합은 자율주행의 대중화에 걸림돌이 되고 있다. 본 논문에서는 기존 단안카메라를 사용하는 Monocular Visual SLAM을 발전시켜 RTK가 지원되는 GPS를 센서 융합하여 정확성과 경제성을 동시에 확보하였다. 또한 HD Map을 활용하여 오차를 보정하고 임베디드 PC장비에 포팅하여 도심 도로상에서 RMSE 33.7 cm의 위치 추정 및 주변지도를 생성할 수 있었다. 본 연구에서 제안한 방법으로 안전하고 저렴한 자율주행 시스템 개발과 정확한 정밀도로지도 생성이 가능할 것으로 기대한다.