• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.868-874
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• 2014

This paper proposes a novel mapping algorithm in Omni-directional Vision SLAM based on an obstacle's feature extraction using Lucas-Kanade Optical Flow motion detection and images obtained through fish-eye lenses mounted on robots. Omni-directional image sensors have distortion problems because they use a fish-eye lens or mirror, but it is possible in real time image processing for mobile robots because it measured all information around the robot at one time. In previous Omni-Directional Vision SLAM research, feature points in corrected fisheye images were used but the proposed algorithm corrected only the feature point of the obstacle. We obtained faster processing than previous systems through this process. The core of the proposed algorithm may be summarized as follows: First, we capture instantaneous $360^{\circ}$ panoramic images around a robot through fish-eye lenses which are mounted in the bottom direction. Second, we remove the feature points of the floor surface using a histogram filter, and label the candidates of the obstacle extracted. Third, we estimate the location of obstacles based on motion vectors using LKOF. Finally, it estimates the robot position using an Extended Kalman Filter based on the obstacle position obtained by LKOF and creates a map. We will confirm the reliability of the mapping algorithm using motion estimation based on fisheye images through the comparison between maps obtained using the proposed algorithm and real maps.

• Journal of Electrical Engineering and Technology
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• v.10 no.5
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• pp.2179-2188
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• 2015

Recently, many researches have been done to solve the challenging problem of Blind Source Separation (BSS) problems in the underdetermined cases, and the “Two-step” method is widely used, which estimates the mixing matrix first and then extracts the sources. To estimate the mixing matrix, conventional algorithms such as Single-Source-Points (SSPs) detection only exploits the sparsity of original signals. This paper proposes a new underdetermined mixing matrix estimation method for time-delayed mixtures based on the receiver prior exploitation. The prior information is extracted from the specific structure of the complex-valued mixing matrix, which is used to derive a special criterion to determine the SSPs. Moreover, after selecting the SSPs, Agglomerative Hierarchical Clustering (AHC) is used to automaticly cluster, suppress, and estimate all the elements of mixing matrix. Finally, a convex-model based subspace method is applied for signal separation. Simulation results show that the proposed algorithm can estimate the mixing matrix and extract the original source signals with higher accuracy especially in low SNR environments, and does not need the number of sources before hand, which is more reliable in the real non-cooperative environment.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.70-77
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• 2014

This paper proposes a novel localization algorithm based on ego-motion which used Lucas-Kanade Optical Flow and warping image obtained through fish-eye lenses mounted on the robots. The omnidirectional image sensor is a desirable sensor for real-time view-based recognition of a robot because the all information around the robot can be obtained simultaneously. The preprocessing (distortion correction, image merge, etc.) of the omnidirectional image which obtained by camera using reflect in mirror or by connection of multiple camera images is essential because it is difficult to obtain information from the original image. The core of the proposed algorithm may be summarized as follows: First, we capture instantaneous $360^{\circ}$ panoramic images around a robot through fish-eye lenses which are mounted in the bottom direction. Second, we extract motion vectors using Lucas-Kanade Optical Flow in preprocessed image. Third, we estimate the robot position and angle using ego-motion method which used direction of vector and vanishing point obtained by RANSAC. We confirmed the reliability of localization algorithm using ego-motion based on fisheye warping image through comparison between results (position and angle) of the experiment obtained using the proposed algorithm and results of the experiment measured from Global Vision Localization System.

• Journal of Korean Society of Transportation
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• v.32 no.5
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• pp.522-530
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• 2014

Spatio-temporal congestion evolution pattern can be reproduced using the VDS(Vehicle Detection System) historic speed dataset in the TMC(Traffic Management Center)s. Such dataset provides a pool of spatio-temporally experienced traffic conditions. Traffic flow pattern is known as spatio-temporally recurred, and even non-recurrent congestion caused by incidents has patterns according to the incident conditions. These imply that the information should be useful for traffic prediction and traffic management. Traffic flow predictions are generally performed using black-box approaches such as neural network, genetic algorithm, and etc. Black-box approaches are not designed to provide an explanation of their modeling and reasoning process and not to estimate the benefits and the risks of the implementation of such a solution. TMCs are reluctant to employ the black-box approaches even though there are numerous valuable articles. This research proposes a more readily understandable and intuitively appealing data-driven approach and developes an algorithm for identifying congestion patterns for recurrent and non-recurrent congestion management and information provision.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.48 no.1
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• pp.33-45
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• 2011

In this paper, we present a method for extracting video objects efficiently by using the modified graph cut algorithm based on contour information. First, we extract objects at the first frame by an automatic object extraction algorithm or the user interaction. To estimate the objects' contours at the current frame, motion information of objects' contour in the previous frame is analyzed. Block-based histogram back-projection is conducted along the estimated contour point. Each color model of objects and background can be generated from back-projection images. The probabilities of links between neighboring pixels are decided by the logarithmic based distance transform map obtained from the estimated contour image. Energy of the graph is defined by predefined color models and logarithmic distance transform map. Finally, the object is extracted by minimizing the energy. Experimental results of various test images show that our algorithm works more accurately than other methods.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.12
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• pp.222-229
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• 1999

In order to regulate cutting torque in milling, monitoring system should be set to a certain threshold. Radial immersion ratio is an important factor to determine the threshold and should be estimated in process for automatic regulation. In this paper, on-line estimation of the radial immersion ration using spindle motor current in face milling is presented. When a tooth finishes sweeping, a sudden drop of cutting torque occurs. This torque drop is equal to cutting torque acting on a single tooth at the swept angle of cut and can be acquired form cutting torque signals. Average cutting torque per revolution can also be calculate form cutting torque signals. The ratio of cutting torque acting on a single tooth at the swept angle of cut to the average cutting torque per revolution is a function of the swept angle of cut and the number of teeth. Using the magnitude of this ratio, the radial immersion ratio is estimated. Identical algorithm is adopted to estimate the immersion ratio based on the spindle motor current measurement. The experiments performed under different cutting conditions show that the radial immersion ratio can be estimated within 10% error range by the proposed method using spindle motor current.

• Korean journal of applied entomology
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• v.42 no.1
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• pp.57-63
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• 2003

Accurate forecasting of occurrence time and abundance of insect pests is essential for developing technology of integrated pest management system. Digital image processing algorithms were utilized to automatically recognize rice planthoppers which are major insect pests in the rice cultivation field and were subsequently used to estimate densities in the field for efficient forecasting of insect pests. To the images taken in the rice field, image decomposition, top-hat transformation, threshold, and minimum and maximum filter were implemented for patterning individually the brown planthopper specimens attached at the bottom area of rice stems. In average 95.8cio of images were correctly recognized for estimating densities by the developed system, and the recognition rate was higher than that obtained from direct observations by experienced observers. Furthermore, the size of the recognized specimens was measured and was used for estimating the age structure in the observed brown planthopper populations.

• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.33-41
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• 2017

We present a region-based approach for accurate pose estimation of small mechanical components. Our algorithm consists of two key phases: Multi-view object co-segmentation and pose estimation. In the first phase, we explain an automatic method to extract binary masks of a target object captured from multiple viewpoints. For initialization, we assume the target object is bounded by the convex volume of interest defined by a few user inputs. The co-segmented target object shares the same geometric representation in space, and has distinctive color models from those of the backgrounds. In the second phase, we retrieve a 3D model instance with correct upright orientation, and estimate a relative pose of the object observed from images. Our energy function, combining region and boundary terms for the proposed measures, maximizes the overlapping regions and boundaries between the multi-view co-segmentations and projected masks of the reference model. Based on high-quality co-segmentations consistent across all different viewpoints, our final results are accurate model indices and pose parameters of the extracted object. We demonstrate the effectiveness of the proposed method using various examples.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.2
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• pp.53-61
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• 2016

Extracting focused object with saliency map is still remaining as one of the most highly tasked research area around computer vision for it is hard to estimate. Through this paper, we propose enhanced object extraction method based on multi-channel saliency map which could be done automatically without machine learning. Proposed Method shows a higher accuracy than Itti method using SLIC, Euclidean, and LBP algorithm as for object extraction. Experiments result shows that our approach is possible to be used for automatic object extraction without any previous training procedure through focusing on the main object from the image instead of estimating the whole image from background to foreground.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.10
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• pp.881-886
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• 2013

Even though a multi-view camera system is able to capture multiple images at different viewpoints, the color distributions of captured multi-view images can be inconsistent. This problem decreases the quality of multi-view images and the performance of post-image processes. In this paper, we propose an improved polynomial model for effectively correcting the color inconsistency problem. This algorithm is fully automatic without any pre-process and considers occlusion regions of the multi-view image. We use the 5th order polynomial model to define a relative mapping curve between reference and source views. Sometimes the estimated curve is seriously distorted if the dynamic range of extracted correspondences is quite low. Therefore we additionally estimate the first order polynomial model for the bottom and top regions of the dynamic range. Afterwards, colors of the source view are modified via these models. The proposed algorithm shows the good subjective results and has better objective quality than the conventional color correction algorithms.