• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1170-1174
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• 2014

This paper suggests using the ICP (Iterative Closet Point) algorithm to compensate a two-dimensional map. ICP algorithm is a typical algorithm method using matching distance data. When building a two-dimensional map, using data through the value of a laser scanner, it occurred warping and distortion of a two-dimensional map because of the difference of distance from the value of the sensor. It uses the ICP algorithm in order to reduce any error of line. It validated the proposed method through experiment involving matching a two-dimensional map based reference data and measured the two-dimensional map.

• Phonetics and Speech Sciences
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• v.6 no.1
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• pp.77-83
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• 2014

This paper proposes a speaker and environment clustering method in order to overcome the degradation of the speech recognition performance caused by various noise and speaker characteristics. In this paper, instead of using the distance between Gaussian mixture model (GMM) weight vectors as in the Google's approach, the distance between the adapted mean vectors based on the modified maximum a posteriori (MAP) adaptation is used as a distance measure for vector quantization (VQ) clustering. According to our experiments on the simulation data generated by adding noise to clean speech, the proposed clustering method yields error rate reduction of 10.6% compared with baseline speaker-independent (SI) model, which is slightly better performance than the Google's approach.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.99-104
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• 1999

This paper proposes an efficient method constructing a local map using the data of a scanning laser range finder. A laser range finder yields distance data of polar form, that is, distance data corresponding to every scanning directions. So, the data consists of directional angle and distance. We propose a new method to find a line fitting with a set of such data. The method uses Log-Hough Transformation. Usually, map building from these data requires some transformations between different coordinate systems. The new method alleviates such complication. Also, the method simplifies computation for line recognition and eliminates the slope quantization problems inherent in the classical Cartesian Hough transform method. To show the efficiency of the proposed method, it is applied to find a local map using the data from a laser range finder PLS(Proximity Laser Scanner, made by SICK).

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2729-2731
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• 2001

In this paper, we studied on the real-time environment map building for the mobile robot navigation using the stereo camera system. Distance measurement are necessary to build the environment map. We used a area-based stereo matching for the distance measurement with the stereo camera system. To reduce the computation time, we used DSP processor on the vision board, took a suitable area size for stereo matching, and used hierarchical search method. Using the fast acquired distance values, the environment map was built.

• Journal of Korea Multimedia Society
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• v.18 no.9
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• pp.1008-1018
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• 2015

In this paper, we propose a method that constructs a saliency map in which important regions are accurately specified and the colors of the regions are less influenced by the similar surrounding colors. Our method utilizes LBP(Local Binary Pattern) histogram information to compare and analyze texture information of surrounding regions in order to reduce the effect of color information. We extract the saliency of stereoscopic images by integrating a 2D saliency map with depth information of stereoscopic images. We then measure the distance between two different sizes of the LBP histograms that are generated from pixels. The distance we measure is texture difference between the surrounding regions. We then assign a saliency value according to the distance in LBP histogram. To evaluate our experimental results, we measure the F-measure compared to ground-truth by thresholding a saliency map at 0.8. The average F-Measure is 0.65 and our experimental results show improved performance in comparison with existing other saliency map extraction methods.

• Journal of Korea Multimedia Society
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• v.18 no.10
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• pp.1157-1163
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• 2015

In this paper, we propose a registration method of 3d facial scan data and CBCT data using voxelization and distance map. First, two data sets are initially aligned by exploiting the voxelization of 3D facial scan data and the information of the center of mass. Second, a skin surface is extracted from 3D CBCT data by segmenting air and skin regions. Third, the positional and rotational differences between two images are accurately aligned by performing the rigid registration for the distance minimization of two skin surfaces. Experimental results showed that proposed registration method correctly aligned 3D facial scan data and CBCT data for ten patients. Our registration method might give useful clinical information for the oral surgery planning and the diagnosis of the treatment effects after an oral surgery.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.5
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• pp.483-488
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• 2008

An active omni-directional raging system using an omni-directional vision with structured light has many advantages compared to the conventional ranging systems: robustness against external illumination noise because of the laser structured light and computational efficiency because of one shot image containing $360^{\circ}$ environment information from the omni-directional vision. The omni-directional range data represents a local distance map at a certain position in the workspace. In this paper, we propose a matching algorithm for the local distance map with the given global map database, thereby to localize a mobile robot in the global workspace. Since the global map database consists of line segments representing edges of environment object in general, the matching algorithm is based on relative position and orientation of line segments in the local map and the global map. The effectiveness of the proposed omni-directional ranging system and the matching are verified through experiments.

• Journal of Broadcast Engineering
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• v.17 no.4
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• pp.565-571
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• 2012

During depth data acquisition and transmission, the quality of depth maps is usually degraded by physical noise and coding error. In this paper, a new joint bilateral filter based on the common distance transform is presented to enhance the low-quality depth map. The proposed method determines the amount of exploitable color data according to distance transform values of depth and color pixels. Consequently, the proposed filter minimizes noise in the depth map while suppressing visual artifacts of joint bilateral filtering. Experimental results show that our method outperforms other conventional methods in terms of noise reduction and visual artifact suppression.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.12
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• pp.3702-3707
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• 2009

In this paper, a new approximated MAP algorithm for soft bit decision from QAM symbols is proposed for Gray Coded QAM signals, based on the Max-Log-MAP and a Gray coded QAM signal can be separated into independent two Gray coded PAM signal, M-PAM on I axis with M symbols and N-PAM on Q axis with N symbols. The Max-Log-MAP used distance comparisons between symbols to get the soft bit decision instead of mathematical exponential or logarithm functions. But in accordance with the increase of the number of symbols, the number of comparisons also increase with high complexity. The proposed algorithm is used with the Euclidean distance and constituted with plain arithmetic functions, thus we can know intuitively that the algorithm has low implementing complexity comparing to conventional ones.

• Journal of the Korea Computer Graphics Society
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• v.18 no.3
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• pp.1-7
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• 2012

In this paper, we propose a method to compute the interface between protein molecules. When a molecules is represented as a set of spheres with van der Waals radii, the distance from a spatial point p to the molecule corresponds to the distance from p to the closet sphere. The molecular interface is composed of equi-distant points from two molecules. Our algorithm decomposes the space into a set of voxels, and then constructs a voxel map by storing the information of spheres intersecting each voxel. By using the voxel map, we compute the distance between a point and the molecule. We also use GPU for the parallel processing, and efficiently approximate the interface of a pair of molecules.