• 한국멀티미디어학회논문지
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• 제6권4호
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• pp.736-745
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• 2003

Traditional slicing techniques make slices through dependence graphs. They also improve the accuracy of slices. However, traditional slicing techniques require many vertices and edges in order to express a data communication link because they are based on static slicing techniques. Therefore the graph becomes very complicated, and size of the slices is larger. We propose the representation of a dynamic object-oriented program dependence graph so as to process the slicing of object-oriented programs that is composed of related programs in order to process certain jobs. We also propose an efficient slicing algorithm using the relations of relative tables in order to compute dynamic slices of object-oriented programs. Consequently, the efficiency of the proposed efficient dynamic object-oriented program dependence graph technique is also compared with the dependence graph techniques discussed previously As a result, this is certifying that an efficient dynamic object-oriented program dependence graph is more efficient in comparison with the traditional object-oriented dependence graphs and dynamic object-oriented program dependence graph.

• 대한임베디드공학회논문지
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• 제19권1호
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• pp.65-71
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• 2024

An indirect visual SLAM takes raw image data and exploits geometric information such as key-points and line edges. Due to various environmental changes, SLAM performance may decrease. The main problem is caused by dynamic objects especially in highly crowded environments. In this paper, we propose a robust feature-based visual SLAM, building on ORB-SLAM, via multi-channel dynamic objects estimation. An optical flow and deep learning-based object detection algorithm each estimate different types of dynamic object information. Proposed method incorporates two dynamic object information and creates multi-channel dynamic masks. In this method, information on actually moving dynamic objects and potential dynamic objects can be obtained. Finally, dynamic objects included in the masks are removed in feature extraction part. As a results, proposed method can obtain more precise camera poses. The superiority of our ORB-SLAM was verified to compared with conventional ORB-SLAM by the experiment using KITTI odometry dataset.

• 한국멀티미디어학회논문지
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• 제7권10호
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• pp.1485-1495
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• 2004

본 논문에서는 효율적인 동적 객체지향 프로그램 슬라이싱을 구현하기 위한 개선된 동적 객체지향 프로그램 종속 그래프 기법 을 제안하였고, 이 그래프를 이용한 동적 객체지향 프로그램 슬라이싱 구현 단계를 제안하였다. 이 구현 단계는 프로그램 노드 분석 단계, 프로그램 실행이력 분석 단계, 동적 객체지향 프로그램 종속 그래프 작성 단계 그리고, 프로그램 슬라이스 작성 단계 등 모두 4단계로 구성되어 있다. 본 논문에서 제시한 기법이 정확함을 보이기 위해 본 논문에서 제시한 알고리즘을 실제 구현하였다. 구현 프로그램은FORTRAN과 VISUAL C++를 사용하였다. 그리고, 본 논문에서 제안한 동적 객체지향 프로그램 슬라이싱 기법이 기존의 객체지향 프로그램 슬라이싱 기법과 기존의 동적 객체지향 프로그램 슬라이싱 기법에 비해 효율적임을 보이기 위해 그래프의 복잡도를 측정하여 비교하였다. 그리고, 프로그램 슬라이스의 크기도 함께 측정하여 본 논문에서 제시한 기법이 효율적임을 증명하였다.

• 한국산업정보학회:학술대회논문집
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• 한국산업정보학회 2008년도 추계 공동 국제학술대회
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• pp.651-655
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• 2008

Traditional slicing techniques make slices through dependence graphs. They also improve the accuracy of slices. However, traditional slicing techniques require many vertices and edges in order to express a data communication links. Therefore the graph becomes complicated, and size of the slices is larger. We propose the representation of a dynamic object-oriented program dependence graph so as to process the slicing of object-oriented programs that is composed of related programs in order to process certain jobs. The efficiency of the proposed efficient dynamic object-oriented program dependence graph technique is also compared with the dependence graph techniques discussed previously. As a result, this is certifying that an efficient dynamic object-oriented program dependence graph is more efficient in comparison with the traditional dynamic object-oriented program dependence graph.

• 로봇학회논문지
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• 제3권3호
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• pp.212-218
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• 2008

Collision avoidance is a fundamental and important task of an autonomous mobile robot for safe navigation in real environments with high uncertainty. Obstacles are classified into static and dynamic obstacles. It is difficult to avoid dynamic obstacles because the positions of dynamic obstacles are likely to change at any time. This paper proposes a scheme for vision-based avoidance of dynamic obstacles. This approach extracts object candidates that can be considered moving objects based on the labeling algorithm using depth information. Then it detects moving objects among object candidates using motion vectors. In case the motion vectors are not extracted, it can still detect the moving objects stably through their color information. A robot avoids the dynamic obstacle using the dynamic window approach (DWA) with the object path estimated from the information of the detected obstacles. The DWA is a well known technique for reactive collision avoidance. This paper also proposes an algorithm which autonomously registers the obstacle color. Therefore, a robot can navigate more safely and efficiently with the proposed scheme.

• 한국정보과학회논문지:시스템및이론
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• 제30권5_6호
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• pp.307-318
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• 2003

본 논문에서는 분산 객체 컴퓨팅 환경에서 보장된 실시간 서비스를 지원하는 TMO 객체그룹(TMO Object Group) 모델을 설계ㆍ구축하고, 우리 모델의 정확한 분산 실시간 서비스 수행능력을 검증 한다. 우리가 제안한 TMO 객체그룹은 TINA(Telecommunications Information Networking Architecture) 의 객체그룹 개념을 기반으로, 실시간 특성을 가지는 TMO(Time-triggered Message-triggered Object) 객체들과 객체그룹 내의 객체 관리 서비스(Object Management Service), 실시간 스케줄링 서비스(Real-Time Scheduling Service)를 지원하는 컴포넌트들로 구성된다. 또한, TMO 객체는 분산 시스템에 비중복 또는 중복으로 존재할 수 있다. 본 모델은 특정 ORB나 운영체제들의 제약 없이 COTS(Commercial Off-The-Shelf) 미들웨어 상에서 보장된 분산 실시간 서비스를 수행한다. TMO 객체그룹을 구축하기 위해 TMO 객체의 개념과 TMO 객체그룹의 구조를 정의하였고, 객체그룹 내의 컴포넌트들의 기능과 그들간의 상호작용을 설계 구현하였다. TMO 객체그룹은 객체 관리 서비스와 실시간 스케줄링 서비스 지원을 위해 동적바인더객체(Dynamic Binder Object)와 스케줄러객체(Scheduler Object)를 각각 가진다. 동적바인더객체는 클라이언트들의 요청에 대해 중복 TMO 객체 중 적정 객체를 선정하는 동적 바인딩 서비스를 지원하고, 스케쥴러객체는 클라이언트들의 서비스 요청에 대해 TMO 객체가 수행해야 할 작업들의 우선순위를 정하는 실시간 스케줄링 서비스를 지원한다. TMO 객체그룹의 수행 검증을 위해 이미 연구된 알고리즘을 확장한 동적 바인딩 서비스를 위한 바인딩 우선순위(Binding Priority) 알고리즘과 실시간 스케줄링 서비스를 위한 EDF(Earliest Deadline First) 알고리즘을 적용하여 동적바인더객체와 스케쥴러객체를 구현했다. 마지막으로 수치 분석을 통해 TMO 객체그룹이 비중복/중복 TMO 객체의 동적 바인딩 서비스와 클라이언트들의 요청을 받는 임의의 TMO 객체에서 실시간 스케줄링 서비스를 지원하는지 검증했다.

• 대한임베디드공학회논문지
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• 제11권5호
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• pp.277-285
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• 2016

Moving object detection system has been an emerging research field in various advanced driver assistance systems (ADAS) and surveillance system. In this paper, we propose two optical flow based moving object detection methods at dynamic scenes. Both proposed methods consist of three successive steps; pre-processing, foreground segmentation, and post-processing steps. Two proposed methods have the same pre-processing and post-processing steps, but different foreground segmentation step. Pre-processing calculates mainly optical flow map of which each pixel has the amplitude of motion vector. Dense optical flows are estimated by using Farneback technique, and the amplitude of the motion normalized into the range from 0 to 255 is assigned to each pixel of optical flow map. In the foreground segmentation step, moving object and background are classified by using the optical flow map. Here, we proposed two algorithms. One is Gaussian mixture model (GMM) based background subtraction, which is applied on optical map. Another is adaptive thresholding based foreground segmentation, which classifies each pixel into object and background by updating threshold value column by column. Through the simulations, we show that both optical flow based methods can achieve good enough object detection performances in dynamic scenes.

• 센서학회지
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• 제30권2호
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• pp.76-81
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• 2021

In this study, we propose a machine vision system with a high object recognition rate. By utilizing a multiple-exposure image sensing technique, the proposed deep learning-based machine vision system can cover a wide light intensity range without further learning processes on the various light intensity range. If the proposed machine vision system fails to recognize object features, the system operates in a multiple-exposure sensing mode and detects the target object that is blocked in the near dark or bright region. Furthermore, short- and long-exposure images from the multiple-exposure sensing mode are synthesized to obtain accurate object feature information. That results in the generation of a wide dynamic range of image information. Even with the object recognition resources for the deep learning process with a light intensity range of only 23 dB, the prototype machine vision system with the multiple-exposure imaging method demonstrated an object recognition performance with a light intensity range of up to 96 dB.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2006년도 춘계학술발표회 논문집(I)
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• pp.486-489
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• 2006

This paper presents a newly proposed object-oriented finite element framework and its applications on dynamic analysis of plate girder bridge. The developed framework supports various types of finite elements, materials, constraints, loads, and solution methods. One major feature different from other object-oriented finite element programs is that static model and dynamic state can be easily read from or written to a file. In addition, the framework supports efficient DOF pattern handling for a node connecting elements with different DOF patterns, new multi-point constraint handling, and various scripting languages for easy use of the library. In order to show the applicability to dynamic analysis, dynamic moving load analysis on plate girder bridge is performed.

• 로봇학회논문지
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• 제8권1호
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• pp.20-28
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• 2013

Large workspace and strong grasping force are required when a robot manipulates big and/or heavy objects. In that situation, bimanual manipulation is more useful than unimanual manipulation. However, the control of both hands to manipulate an object requires a more complex model compared to unimanual manipulation. Learning by human demonstration is a useful technique for a robot to learn a model. In this paper, we propose an imitation learning method of bimanual object manipulation by human demonstrations. For robust imitation of bimanual object manipulation, movement trajectories of two hands are encoded as a movement trajectory of the object and a force trajectory to grasp the object. The movement trajectory of the object is modeled by using the framework of dynamic movement primitives, which represent demonstrated movements with a set of goal-directed dynamic equations. The force trajectory to grasp an object is also modeled as a dynamic equation with an adjustable force term. These equations have an adjustable force term, where locally weighted regression and multiple linear regression methods are employed, to imitate complex non-linear movements of human demonstrations. In order to show the effectiveness our proposed method, a movement skill of pick-and-place in simulation environment is shown.