• Journal of Electrical Engineering and Technology
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• v.11 no.6
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• pp.1846-1856
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• 2016

This study proposes a novel feature point initialization method in order to improve the accuracy of feature point positions by fusing a vision sensor and a lidar. The initialization is a process that determines three dimensional positions of feature points through two dimensional image data, which has a direct influence on performance of a 6-DoF bearing-only SLAM. Prior to the initialization, an extrinsic calibration method which estimates rotational and translational relationships between a vision sensor and lidar using multiple calibration tools was employed, then the feature point initialization method based on the estimated extrinsic calibration parameters was presented. In this process, in order to improve performance of the accuracy of the initialized feature points, an iterative automatic scaling parameter tuning technique was presented. The validity of the proposed feature point initialization method was verified in a 6-DoF bearing-only SLAM framework through an indoor and outdoor tests that compare estimation performance with the previous initialization method.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.833-838
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• 2016

This paper presents a performance evaluation of various feature-initialization algorithms for forward-viewing mono-camera based simultaneous localization and mapping (SLAM), specifically in indoor environments. For mono-camera based SLAM, the position of feature points cannot be known from a single view; therefore, it should be estimated from a feature initialization method using multiple viewpoint measurements. The accuracy of the feature initialization method directly affects the accuracy of the SLAM system. In this study, four different feature initialization algorithms are evaluated in simulations, including linear triangulation; depth parameterized, linear triangulation; weighted nearest point triangulation; and particle filter based depth estimation algorithms. In the simulation, the virtual feature positions are estimated when the virtual robot, containing a virtual forward-viewing mono-camera, moves forward. The results show that the linear triangulation method provides the best results in terms of feature-position estimation accuracy and computational speed.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.915-916
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• 2008

We propose a clustering based object feature matching for identification of same object in multi-camera system. The method is focused on ease to system initialization and extension. Clustering is used to estimate parameters of Gaussian mixture models of objects. A similarity measure between models are determined by Kullback-Leibler divergence. This method can be applied to occlusion problem in tracking.

• ETRI Journal
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• v.23 no.2
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• pp.61-70
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• 2001

In this paper, we propose an efficient method for personal identification by analyzing iris patterns that have a high level of stability and distinctiveness. To improve the efficiency and accuracy of the proposed system, we present a new approach to making a feature vector compact and efficient by using wavelet transform, and two straightforward but efficient mechanisms for a competitive learning method such as a weight vector initialization and the winner selection. With all of these novel mechanisms, the experimental results showed that the proposed system could be used for personal identification in an efficient and effective manner.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.10
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• pp.4098-4116
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• 2020

Mobile devices such as smartphones are very attractive targets for augmented reality (AR) services, but their limited resources make it difficult to increase the number of objects to be recognized. When the recognition process is scaled to a large number of objects, it typically requires significant computation time and memory. Therefore, most large-scale mobile AR systems rely on a server to outsource recognition process to a high-performance PC, but this limits the scenarios available in the AR services. As a part of realizing large-scale standalone mobile AR, this paper presents a solution to the problem of accuracy, memory, and speed for large-scale object recognition. To this end, we design our own basic feature and realize spatial locality, selective feature extraction, rough pose estimation, and selective feature matching. Experiments are performed to verify the appropriateness of the proposed method for realizing large-scale standalone mobile AR in terms of efficiency and accuracy.

• Journal of Information Processing Systems
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• v.5 no.1
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• pp.1-4
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• 2009

Level set methods are the numerical techniques for tracking interfaces and shapes. They have been successfully used in image segmentation. A new variational level set evolving algorithm without re-initialization is presented in this paper. It consists of an internal energy term that penalizes deviations of the level set function from a signed distance function, and an external energy term that drives the motion of the zero level set toward the desired image feature. This algorithm can be easily implemented using a simple finite difference scheme. Meanwhile, not only can the initial contour can be shown anywhere in the image, but the interior contours can also be automatically detected.

• Journal of International Society for Simulation Surgery
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• v.3 no.1
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• pp.9-11
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• 2016

Purpose In this paper we proposed bi-directional hierarchical regression for accurate human finger landmark detection with only using depth information.Materials and Methods Our algorithm consisted of two different step, initialization and landmark estimation. To detect initial landmark, we used difference of random pixel pair as the feature descriptor. After initialization, 16 landmarks were estimated using cascaded regression methods. To improve accuracy and stability, we proposed bi-directional hierarchical structure.Results In our experiments, the ICVL database were used for evaluation. According to our experimental results, accuracy and stability increased when applying bi-directional hierarchical regression more than typical method on the test set. Especially, errors of each finger tips of hierarchical case significantly decreased more than other methods.Conclusion Our results proved that our proposed method improved accuracy and stability and also could be applied to a large range of applications such as augmented reality and simulation surgery.

• The KIPS Transactions:PartB
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• v.14B no.7
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• pp.473-480
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• 2007

Feature tracking in video frame sequences has suffered from the instability and the frequent failure of feature matching between two successive frames. In this paper, we propose a robust 2D feature tracking method that is stable to long video sequences. To improve the stability of feature tracking, we predict the spatial movement in the current image frame using the state variables. The predicted current movement is used for the initialization of the search window. By computing the feature similarities in the search window, we refine the current feature positions. Then, the current feature states are updated. This tracking process is repeated for each input frame. To reduce false matches, the outlier rejection stage is also introduced. Experimental results from real video sequences showed that the proposed method performs stable feature tracking for long frame sequences.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.3 no.2
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• pp.178-186
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• 2003

Recently, many researchers have been interested in biometric systems such as fingerprint, handwriting, key-stroke patterns and human iris. From the viewpoint of reliability and robustness, iris recognition is the most attractive biometric system. Moreover, the iris recognition system is a comfortable biometric system, since the video image of an eye can be taken at a distance. In this paper, we discuss human iris recognition, which is based on accurate iris localization, robust feature extraction, and Neural Network classification. The iris region is accurately localized in the eye image using a multiresolution active snake model. For the feature representation, the localized iris image is decomposed using wavelet transform based on dyadic Haar wavelet. Experimental results show the usefulness of wavelet transform in comparison to conventional Gabor transform. In addition, we present a new method for setting initial weight vectors in competitive learning. The proposed initialization method yields better accuracy than the conventional method.

• Journal of Biomedical Engineering Research
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• v.42 no.6
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• pp.268-276
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• 2021

Functional near-infrared spectroscopy-based brain-computer interface (fNIRS-based BCI) has been receiving much attention. However, we are practically constrained to obtain a lot of fNIRS data by inherent hemodynamic delay. For this reason, when employing machine learning techniques, a problem due to the high-dimensional feature vector may be encountered, such as deteriorated classification accuracy. In this study, we employ an elastic net-based feature selection which is one of the embedded methods and demonstrate the utility of which by analyzing the results. Using the fNIRS dataset obtained from 18 participants for classifying brain activation induced by mental arithmetic and idle state, we calculated classification accuracies after performing feature selection while changing the parameter α (weight of lasso vs. ridge regularization). Grand averages of classification accuracy are 80.0 ± 9.4%, 79.3 ± 9.6%, 79.0 ± 9.2%, 79.7 ± 10.1%, 77.6 ± 10.3%, 79.2 ± 8.9%, and 80.0 ± 7.8% for the various values of α = 0.001, 0.005, 0.01, 0.05, 0.1, 0.2, and 0.5, respectively, and are not statistically different from the grand average of classification accuracy estimated with all features (80.1 ± 9.5%). As a result, no difference in classification accuracy is revealed for all considered parameter α values. Especially for α = 0.5, we are able to achieve the statistically same level of classification accuracy with even 16.4% features of the total features. Since elastic net-based feature selection can be easily applied to other cases without complicated initialization and parameter fine-tuning, we can be looking forward to seeing that the elastic-based feature selection can be actively applied to fNIRS data.