• ETRI Journal
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• 제44권1호
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• pp.10-23
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• 2022

Despite the significant progress in camera pose estimation and structure-from-motion reconstruction from unstructured images, methods that exploit a priori information on camera arrangements have been overlooked. Conventional state-of-the-art methods do not exploit the geometric structure to recover accurate camera poses from a set of patch images in an array for mosaic-based imaging that creates a wide field-of-view image by sewing together a collection of regular images. We propose a camera pose estimation framework that exploits the array-structured image settings in each incremental reconstruction step. It consists of the two-way registration, the 3D point outlier elimination and the bundle adjustment with a constraint term for consistent rotation vectors to reduce reprojection errors during optimization. We demonstrate that by using individual images' connected structures at different camera pose estimation steps, we can estimate camera poses more accurately from all structured mosaic-based image sets, including omnidirectional scenes.

• The Plant Pathology Journal
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• 제40권2호
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• pp.139-150
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• 2024

Huanglongbing (HLB) is a disease caused by the phloem-limited Candidatus Liberibacter asiaticus (CLas) that affects the citrus industry worldwide. To date, only indirect strategies have been implemented to eradicate HLB. Included among these is the population control of the psyllid vector (Diaphorina citri), which usually provides inconsistent results. Even though strategies for direct CLas suppression seem a priori more promising, only a handful of reports have been focused on a confrontation of the pathogen. Recent developments in polymer chemistry have allowed the design of polycationic self-assembled block copolymers with outstanding antibacterial capabilities. Here, we report the use of polymeric nano-sized bactericide particles (PNB) to control CLas directly in the phloem vasculature. The field experiments were performed in Rioverde, San Luis Potosí, and is one of the most important citrusproducing regions in Mexico. An average 52% reduction in the bacterial population was produced when PNB was injected directly into the trunk of 20 infected trees, although, in some cases, reduction levels reached 97%. These results position PNB as a novel and promising nanotechnological tool for citrus crop protection against CLas and other related pathogens.

• International Journal of Control, Automation, and Systems
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• 제3권4호
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• pp.509-523
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• 2005

We are developing a novel framework, PRIDE (PRediction In Dynamic Environments), to perform moving object prediction (MOP) for autonomous ground vehicles. The underlying concept is based upon a multi-resolutional, hierarchical approach which incorporates multiple prediction algorithms into a single, unifying framework. The lower levels of the framework utilize estimation-theoretic short-term predictions while the upper levels utilize a probabilistic prediction approach based on situation recognition with an underlying cost model. The estimation-theoretic short-term prediction is via an extended Kalman filter-based algorithm using sensor data to predict the future location of moving objects with an associated confidence measure. The proposed estimation-theoretic approach does not incorporate a priori knowledge such as road networks and traffic signage and assumes uninfluenced constant trajectory and is thus suited for short-term prediction in both on-road and off-road driving. In this article, we analyze the complementary role played by vehicle kinematic models in such short-term prediction of moving objects. In particular, the importance of vehicle process models and their effect on predicting the positions and orientations of moving objects for autonomous ground vehicle navigation are examined. We present results using field data obtained from different autonomous ground vehicles operating in outdoor environments.

• IEIE Transactions on Smart Processing and Computing
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• 제1권3호
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• pp.125-132
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• 2012

This paper proposes an automatic object segmentation and background composition method for video communication over consumer mobile phones. The object regions were extracted based on the motion and color variance of the first two frames. To combine the motion and variance information, the Euclidean distance between the motion boundary pixel and the neighboring color variance edge pixels was calculated, and the nearest edge pixel was labeled to the object boundary. The labeling results were refined using the morphology for a more accurate and natural-looking boundary. The grow-cut segmentation algorithm begins in the expanded label map, where the inner and outer boundary belongs to the foreground and background, respectively. The segmented object region and a new background image stored a priori in the mobile phone was then composed. In the background composition process, the background motion was measured using the optical-flow, and the final result was synthesized by accurately locating the object region according to the motion information. This study can be considered an extended, improved version of the existing background composition algorithm by considering motion information in a video. The proposed segmentation algorithm reduces the computational complexity significantly by choosing the minimum resolution at each segmentation step. The experimental results showed that the proposed algorithm can generate a fast, accurate and natural-looking background composition.

• 제어로봇시스템학회논문지
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• 제13권10호
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• pp.990-999
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• 2007

We deal with second order NMP(Non-Minimum Phase) systems which are difficult to control with conventional methods because of their inherent characteristics of undershoot. In such systems, reducing the undesirable undershoot phenomenon makes the response time of the systems much longer. Moreover, it is impossible to control the magnitude of undershoot in a direct way and to predict the response time. In this paper, we propose a novel two sliding mode control scheme which is capable of determining the magnitude of undershoot and thus the response time of NMP systems a priori. To do this, we introduce two sliding lines which are in charge of control in turn. One is used to stabilize the system and achieve asymptotic regulation eventually like the conventional sliding mode methods and the other to stably control the magnitude of undershoot from the beginning of control until the state meets the first sliding line. This control scheme will be proved to have an asymptotic regulation property. The computer simulation shows that the proposed control scheme is very effective and suitable for controlling the second order NMP system because it can decide the magnitude of undershoot in a direct and stable way and reduce the response time compared with the conventional ones.

• 전자공학회논문지S
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• 제35S권11호
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• pp.116-122
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• 1998

본 논문에서는 원영상이 가지고 있는 고주파 성분을 효율적으로 복원할 수 있는 공간 적응적 영상보간(image interpolation) 알고리듬을 제안한다. 영상이 갖고 있는 선험적 정보(a priori knowledge)를 보간 과정에 적용하기 위해서는, 우선 저해상도의 영상 시스템을 나타내는 분리 가능한(separable) 2차원 열화모델(degradation model)을 결정한다. 이렇게 결정된 열화 모델에 따라 다섯 가지의 서로 다른 제약 조건들을 사용하여 정칙화에 기반을 둔 공간 적응적 영상보간 알고리듬을 제안한다. 또한, 제안된 알고리듬의 수렴성을 분석하고, 실험 결과를 토대로 비적응적인 방법과 제안된 알고리듬의 성능을 비교한다.

• 한국정밀공학회지
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• 제19권2호
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• pp.151-159
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• 2002

The method of accumulating a sequence of focused images is usually used for reconstruction of 3D object\\`s shape. To acquire a focused image, the conventional methods must calculate the focus measures of all pixels resulting in a long measurement time. This paper proposes a new method of reducing the computation time spent for deciding the focused pixels in the input image, which predicts the area in the image to calculate the focus measure based on a priori information on the object to be measured. The proposed algorithm estimates the area to consider in the next measurement based on the focused area in the present measurement. As the focus measure, Laplacian measure was used in this paper and the experiments have shown that the preposed algorithm may significantly reduce the calculation time. Although, as implied, this algorithm can be applied to only simple objects at this stage, advanced representation schemes will eliminate the restrictions on application domain.

• 정보처리학회논문지A
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• 제12A권3호
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• pp.197-204
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• 2005

본 논문에서는 인터넷 상의 분산 비디오 스트리밍 서비스에서 저장된 가변 비트율 비디오의 전송에 대해 고려한다. 스트리밍 서비스에서 전송 중에 대역폭 재조정 프로토콜에 따라 대역폭 할당이 줄게 되면 흔히 재생의 끊김 현상이 발생한다. 본 논문에서는 이러한 문제점을 극복할 수 있는 가변 비트율 비디오에 대한 전송 기법을 제안한다. 이 기법에서는 저장된 가변 비트율 비디오에 대한 사전 정보를 사용하여 재생이 끊김없이 이루어질 수 있도록 전송한다. 또한 제안된 전송 기법 하에서의 수용 제어를 위해 버퍼-대역폭 관계를 근사적으로 계산할 수 있는 기법을 제안한다.

• 한국경영과학회:학술대회논문집
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• 한국경영과학회 1996년도 추계학술대회발표논문집; 고려대학교, 서울; 26 Oct. 1996
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• pp.199-202
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• 1996

Although numerous studies demonstrate that one technique outperforms the others for a given data set, there is often no way to tell a priori which of these techniques will be most effective to solve a specific problem. Alternatively, it has been suggested that a better approach to classification problem might be to integrate several different forecasting techniques by combining their results. The issues of interest are how to integrate different modeling techniques to increase the prediction performance. This paper proposes the post-model integration method, which means integration is performed after individual techniques produce their own outputs, by finding the best combination of the results of each method. To get the optimal or near optimal combination of different prediction techniques. Genetic Algorithms (GAs) are applied, which are particularly suitable for multi-parameter optimization problems with an objective function subject to numerous hard and soft constraints. This study applied three individual classification techniques (Discriminant analysis, Logit and Neural Networks) as base models to the corporate failure prediction context. Results of composite prediction were compared to the individual models. Preliminary results suggests that the use of integrated methods will offer improved performance in business classification problems.

• 한국항행학회논문지
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• 제7권2호
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• pp.217-226
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• 2003

근래에 Poisson 형의 점프 프로세스를 이용하여 표적의 기동 운동을 모델링하고 이것을 이용한 반복형 최소 분산 선형 필터가 제안되었다. 이 필터에서는 기동 표적의 모델링에 사용한 점프의 상태천이 파라미터가 미리부터 필터에 알려져 있다고 가정하였는데 실제는 이것을 모르는 경우가 많다. 본 논문에서는 이러한 기동 추적과정에 수반되는 모델링 오류가 제안된 추적필터의 성능에 어떤 영향을 미치는지 고려한다. 정성적인 분석을 위해서 상태천이 파라미터를 실제와 다른 값을 사용하고, Monte-Carlo 시뮬레이션을 통해 필터의 성능을 해석한다.