• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.9C
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• pp.849-860
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• 2007

Because the H.264/AVC standard adopts the variable length coding algorithm, the rate of encoded video bitstream fluctuates a lot as time flows, though its compression efficiency is superior to that of existing standards. When a video is transmitted in real-time over networks with fixed low-bandwidth, it is necessary to control the bit rate which is generated from encoder. Many existing rate control algorithms have been adopting the quadratic rate-distortion model which determines the target bits for each frame. We propose a new rate control algorithm for H.264/AVC video transmission over networks with fixed bandwidth. The proposed algorithm predicts quantization parameter adaptively to reduce video distortion using the quadratic rate-distortion model, which uses the target bit rate and the mean absolute difference for current frame considering pixel difference between macroblocks in the previous and the current frame. On video samples with high motion and scene change cases, experimental results show that (1) the proposed algorithm adapts the encoded bitstream to limited channel capacity, while existing algorithms abruptly excess the limit bit rate; (2) the proposed algorithm improves picture quality with $0.4{\sim}0.9dB$ in average.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.7
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• pp.655-663
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• 2017

With the development of ICT technology, the indoor utilization of robots is increasing. Research on transportation, cleaning, guidance robots, etc., that can be used now or increase the scope of future use will be advanced. To facilitate the use of mobile robots in indoor spaces, the problem of self-location recognition is an important research area to be addressed. If an unexpected collision occurs during the motion of a mobile robot, the position of the mobile robot deviates from the initially planned navigation path. In this case, the mobile robot needs a robust controller that enables the mobile robot to accurately navigate toward the goal. This research tries to address the issues related to self-location of the mobile robot. A robust position recognition system was implemented; the system estimates the position of the mobile robot using a combination of encoder information of the mobile robot and the absolute space coordinate transformation information obtained from external video sources such as a large number of CCTVs installed in the room. Furthermore, vector field histogram method of the pass traveling algorithm of the mobile robot system was applied, and the results of the research were confirmed after conducting experiments.

• Current Research on Agriculture and Life Sciences
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• v.32 no.2
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• pp.79-84
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• 2014

The precision aerial application of agricultural unmanned helicopters has become a new paradigm for small farms with orchards, paddy, and upland fields. The needs of agricultural applications require easy and affordable control systems. Recent developments of MEMS technology based on inertial sensors and high speed DSP have enabled the fabrication of low-cost attitude system. Therefore, this study evaluates inertial MEMS sensors for estimating the attitude of an agricultural unmanned helicopter. The accuracies and errors of gyro and acceleration sensors were verified using a pendulum system. The true motion values were calculated using a theoretical estimation and absolute encoder measurement of the pendulum, and then the sensor output was compared with reference values. When comparing the sensor measurements and true values, the errors were determined to be 4.32~5.72%, 3.53~6.74%, and 3.91~4.16% for the gyro rate and x-, z- accelerations, respectively. Thus, the measurement results confirmed that the inertial sensors are effective for establishing an attitude and heading reference system (AHRES). The sensors would be constructed in gimbals for the estimating and proving attitude measurements in the following paper.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.26 no.11A
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• pp.1925-1938
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• 2001

In this paper, a new block-matching algorithm for standard video encoder is presented. The slice competition method is proposed as a new scheme, as opposed to a coarse-to-fine approach. The order of calculating the SAD(Sum of Absolute Difference) to fad the best matching block is changed from a raster order to a dispersed one. Based on this scheme, the increasing SAD curve during its calculation is more linear than that of other curves. Then, the candidates of low probability can be removed in the early stage of calculation. And new MV prediction technique with an adaptive search range scheme also assists the proposed block-matching algorithm. As a result, an average of 13% improvement in computational power is recorded by only the proposed MV prediction technique. Synthetically, the computational power is reduced by 3977∼77% than that of the conventional BMAs. The average MAD is always low in various sequences. The results are also very close to the MAD of the full search block-matching algorithm.

• Current Research on Agriculture and Life Sciences
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• v.32 no.3
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• pp.159-163
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• 2014

Agricultural unmanned helicopters have become a new paradigm for aerial application. Yet, such agricultural helicopters require easy and affordable attitude control systems. Therefore, this study presents an affordable attitude measurement system using a DCM (direction cosine matrix) algorithm that would be applied to agricultural unmanned helicopters. An IMU using a low-cost MEMS and an algorithm to estimate the attitude of the helicopter were applied in a gimbals structure to evaluate the accuracy of the attitude measurements. The estimation errors in the attitude were determined in comparison with the true angles determined by absolute position encoders. The DCM algorithm and sensors showed an accuracy of about 1.1% for the roll and pitch angle estimation. However, the accuracy of the yaw angle estimation at 3.7% was relatively larger. Such errors may be due to the magnetic field of the stepping motor and encoder system. Notwithstanding, since the intrinsic behavior of the agricultural helicopter remains steady, the determination of attitude would be reliable and practical.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2010.11a
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• pp.14-17
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• 2010

Following the proliferation of three-dimensional video contents and displays, many terrestrial broadcasting companies prepare for starting stereoscopic 3DTV service. In terrestrial stereoscopic broadcast, it is a difficult task to code and transmit two video sequences while sustaining as high quality as 2DTV broadcast attains due to the limited bandwidth defined by the existing digital TV standards such as ATSC. Thus, a terrestrial 3DTV broadcasting system with heterogeneous video coding systems is considered for terrestrial 3DTV broadcast where the left image and right images are based on MPEG-2 and H.264/AVC, respectively, in order to achieve both high quality broadcasting service and compatibility for the existing 2DTV viewers. Without significant change in the current terrestrial broadcasting systems, we propose a joint rate control scheme for stereoscopic 3DTV service. The proposed joint rate control scheme applies to the MPEG-2 encoder a quadratic rate-quantization model which is adopted in the H.264/AVC. Then the controller is designed for the sum of two bit streams to meet the bandwidth requirement of broadcasting standards while the sum of image distortions is minimized by adjusting quantization parameter computed from the proposed optimization scheme. Besides, we also consider a condition on quality difference between the left and right images in the optimization. Experimental results demonstrate that the proposed bit rate control scheme outperforms the rate control method where each video coding standard uses its own bit rate control algorithm in terms of minimizing the mean image distortion as well as the mean value and the variation of absolute image quality differences.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.2C
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• pp.181-188
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• 2007

This paper proposed a watermark embedding/extracting method using CABAC(Context-based Adaptive Binary Arithmetic Coding) which is the entropy encoder for the main profile of MPEG-4 Part 10 H.264/AVC. This algorithm selects the blocks and the coefficients in a block on the bases of the contexts extracted from the relationship to the adjacent blocks and coefficients. A watermark bit is embedded without any modification of coefficient or with replacing the LSB(Least Significant Bit) of the coefficient with a watermark bit by considering both the absolute value of the selected coefficient and the watermark bit. Therefore, it makes it hard for an attacker to find out the watermarked locations. By selecting a few coefficients near the DC coefficient according to the contexts, this algorithm satisfies the robustness requirement. From the results from experiments with various kinds and various strengths of attacks the maximum error ratio of the extracted watermark was 5.02% in maximum, which makes certain that the proposed algorithm has very high level of robustness. Because it embeds the watermark during the context modeling and binarization process of CABAC, the additional amount of calculation for locating and selecting the coefficients to embed watermark is very small. Consequently, it is highly expected that it is very useful in the application area that the video must be compressed right after acquisition.

• Journal of Broadcast Engineering
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• v.16 no.2
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• pp.216-225
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• 2011

Following the proliferation of three-dimensional video contents and displays, many terrestrial broadcasting companies have been preparing for stereoscopic 3DTV service. In terrestrial stereoscopic broadcast, it is a difficult task to code and transmit two video sequences while sustaining as high quality as 2DTV broadcast due to the limited bandwidth defined by the existing digital TV standards such as ATSC. Thus, a terrestrial 3DTV broadcasting with a heterogeneous video codec system, where the left image and right images are based on MPEG-2 and H.264/AVC, respectively, is considered in order to achieve both high quality broadcasting service and compatibility for the existing 2DTV viewers. Without significant change in the current terrestrial broadcasting systems, we propose a joint rate control scheme for stereoscopic 3DTV service based on the heterogeneous dual codec systems. The proposed joint rate control scheme applies to the MPEG-2 encoder a quadratic rate-quantization model which is adopted in the H.264/AVC. Then the controller is designed for the sum of the left and right bitstreams to meet the bandwidth requirement of broadcasting standards while the sum of image distortions is minimized by adjusting quantization parameter obtained from the proposed optimization scheme. Besides, we consider a condition on maintaining quality difference between the left and right images around a desired level in the optimization in order to mitigate negative effects on human visual system. Experimental results demonstrate that the proposed bit rate control scheme outperforms the rate control method where each video coding standard uses its own bit rate control algorithm independently in terms of the increase in PSNR by 2.02%, the decrease in the average absolute quality difference by 77.6% and the reduction in the variance of the quality difference by 74.38%.