• 대한의용생체공학회:의공학회지
• /
• 제17권2호
• /
• pp.179-188
• /
• 1996

A clinically oriented 32-channel electroencephalogram (EEG) and evoked potential (EP) mapping system has been developed EEG and EP signals acquired from 32-channel electrodes attached on the heroid surface are amplified by a pre-amplifier which is separated from main amplifier and is located near the patient to reduce signal attenuation and noise contamination between electrodes and the amplifier. The amplified signals are further amplified by a main amplifier where various filtering and gain contr61 are achieved An automatic artifact rejection scheme is employed using neural network-based EEG and artifact classifier, by which examination time is substantially reduce4 The continuously measured EEG sigrlals are used for spectral mapping, and auditory and visual evoked potentials measured in synchronous to the auditory and visual stimuli are used for temporal evoked potential mapping. A user-friendly graphical interface based on the Microsoft Window 3.1 is developed for the operation of the system. Statistical databases for comparisons of group and individual are included to support a statistically-based diagnosis.

• 한국항행학회논문지
• /
• 제19권2호
• /
• pp.133-139
• /
• 2015

이 논문에서는 영상정보를 기반으로 한 무인 시스템의 자율 항법기술에 대한 동향을 요약한다. 영상기반 항법기술로는 비주얼 서보잉, 비주얼 오도메트리, 영상 기반 SLAM(simultaneous localization and mapping)이 있다. 비주얼 서보잉은 목표 이미지와 현재 이미지 사이의 피쳐 차이로부터 원하는 속도 입력을 계산하여 무인 로봇을 목표 자세로 유도하는 데 사용된다. 비주얼 오도메트리는 무인 시스템이 영상정보를 바탕으로 자신의 이동 궤적을 추정하는 기술로, 기존의 dead-reckoning 방식보다 정확성을 향상시킬 수 있다. 영상 기반 SLAM은 무인 시스템이 영상 정보를 활용하여 미지의 환경에 대한 지도를 구축함과 동시에 자신의 위치를 결정해 나가는 기술로, 정확히 알지 못하는 환경에서 무인차량이나 무인기를 운용하는데 필수적이다. 이러한 기술들이 적용된 해외의 연구 사례들을 살펴봄으로써 영상기반 항법기술의 동향을 파악할 수 있었다.

• 한국광학회:학술대회논문집
• /
• 한국광학회 2008년도 동계학술발표회 논문집
• /
• pp.181-182
• /
• 2008

In this paper, we propose a volumetric computational reconstruction method by use of smart pixel mapping technique in the computational integral imaging in order to overcome the problem of resolution degradation. The experimental results are presented to show the usefulness of our proposed technique.

• 로봇학회논문지
• /
• 제9권4호
• /
• pp.197-205
• /
• 2014

As computer vision algorithms are developed on a continuous basis, the visual information from vision sensors has been widely used in the context of simultaneous localization and mapping (SLAM), called visual SLAM, which utilizes relative motion information between images. This research addresses a visual SLAM framework for online localization and mapping in an unstructured seabed environment that can be applied to a low-cost unmanned underwater vehicle equipped with a single monocular camera as a major measurement sensor. Typically, an image motion model with a predefined dimensionality can be corrupted by errors due to the violation of the model assumptions, which may lead to performance degradation of the visual SLAM estimation. To deal with the erroneous image motion model, this study employs a local bundle optimization (LBO) scheme when a closed loop is detected. The results of comparison between visual SLAM estimation with LBO and the other case are presented to validate the effectiveness of the proposed methodology.

• 로봇학회논문지
• /
• 제17권3호
• /
• pp.334-338
• /
• 2022

In visual simultaneous localization and mapping (vSLAM), the correct recognition of a place benefits in relocalization and improved map accuracy. However, its performance is significantly affected by the environmental conditions such as variation in light, viewpoints, seasons, and presence of dynamic objects. This research addresses the problem of feature occlusion caused by interference of dynamic objects leading to the poor performance of visual place recognition algorithm. To overcome the aforementioned problem, this research analyzes the role of scene semantics in correct detection of a place in challenging environments and presents a semantics aided visual place recognition method. Semantics being invariant to viewpoint changes and dynamic environment can improve the overall performance of the place matching method. The proposed method is evaluated on the two benchmark datasets with dynamic environment and seasonal changes. Experimental results show the improved performance of the visual place recognition method for vSLAM.

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

• 한국측량학회지
• /
• 제35권4호
• /
• pp.319-326
• /
• 2017

SAR (Synthetic aperture radar) images are less affected by the weather compared to optical images and can be obtained at any time of the day. Therefore, SAR images are being actively utilized for military applications and natural disasters. However, because SAR data are in grayscale, it is difficult to perform visual analysis and to decipher details. In this study, we propose a color mapping method using RF (random forest) regression for enhancing the visual decipherability of SAR images. COSMO-SkyMed 2 and WorldView-3 images were obtained for the same area and RF regression was used to establish color configurations for performing color mapping. The results were compared with image fusion, a traditional color mapping method. The UIQI (universal image quality index), the SSIM (structural similarity) index, and CC (correlation coefficients) were used to evaluate the image quality. The color-mapped image based on the RF regression had a significantly higher quality than the images derived from the other methods. From the experimental result, the use of color mapping based on the RF regression for SAR images was confirmed.

• 한국HCI학회:학술대회논문집
• /
• 한국HCI학회 2006년도 학술대회 1부
• /
• pp.1155-1160
• /
• 2006

다양한 과학 분야와 공학 분야에서는 그들이 다루고 있는 특정한 주제의 정보를 좀 더 신속하고, 명확하게 사용자에게 전달하기 위해서 여러 가지 정보 가시화(information visualization) 기법을 사용한다. 정보를 가시화 할 때는 기본적으로 세 가지 과정을 거치는데, 원천 데이터(raw data)로부터 데이터 모델(data model)로 변환하고, 변환된 데이터 모델을 가시화 구조상(visual structure)에 매핑(mapping)시킨 후 정보화 모델(information model)로 변환하게 된다. 본 논문에서는 특정 행사가 진행되고 있는 건물내부에서 발생하는 시간, 공간적인 정보를 정리한 도표 메타포(table metaphor)를 토대로, 해당 데이터 모델로부터 추출한 다양한 정보를 3 차원 지도로 구성된 정보화 모델 상에 반영하기 위한 방법을 제안하였다. 또한, 정보를 단순히 공간상에 반영하기 보다는 사용자의 관심영역(interest area)에 따른 정보의 공간적 의미에 중점을 두어 3차원 공간상에 표현하였다.

• 로봇학회논문지
• /
• 제17권4호
• /
• pp.397-406
• /
• 2022

This paper presents an autonomous mobile robot (AMR) system and operation algorithms for logistic and factory facilities without magnet-lines installation. Unlike widely used AMR systems, we propose an EKF-based loosely coupled fusion of LiDAR measurements and visual markers. Our method first constructs occupancy grid and visual marker map in the mapping process and utilizes prebuilt maps for precise localization. Also, we developed a waypoint-based navigation pipeline for robust autonomous operation in unconstrained environments. The proposed system estimates the robot pose using by updating the state with the fusion of visual marker and LiDAR measurements. Finally, we tested the proposed method in indoor environments and existing factory facilities for evaluation. In experimental results, this paper represents the performance of our system compared to the well-known LiDAR-based localization and navigation system.

• International Journal of Internet, Broadcasting and Communication
• /
• 제15권2호
• /
• pp.181-186
• /
• 2023

With the development of VR technology, the visual immersion of VR games has been greatly enhanced nowadays. There has been an issue that has been troubling players in previous VR games, which is motion sickness. Therefore, VR games have been limited in terms of game mechanics, game duration, and game scale, greatly reducing the immersive experience of visual immersion. However, <Half-Life: Alyx> is different from previous VR games in that players can actually perform spatial displacement in the game scene, rather than being fixed in one place for 360-degree observation and interaction. At the same time, compared to traditional games, VR games no longer need to rely on screens, and the complete visual immersion enhances the fun and playability of the game. This research focuses on the VR game <Half-Life: Alyx> to explore its immersive factors in terms of visual perception. Through in-depth analysis of elements such as color, texture mapping, lighting, etc. in VR games, it was found that the game creates a strong sense of visual immersion in these aspects. Through analysis, it is helpful to gain a deeper understanding of the factors that contribute to visual immersion in VR games, which has certain reference value for game developers and related professionals.