• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.385-394
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• 2017

Side scanning sonar (SSS) provides valuable information for robot navigation. However using the side scanning sonar images in the navigation was not fully studied. In this paper, we use range data, and side scanning sonar images from UnderWater Simulator (UWSim) and propose measurement models in a feature based simultaneous localization and mapping (SLAM) framework. The range data is obtained by echosounder and sidescanning sonar images from side scan sonar module for UWSim. For the feature, we used the A-KAZE feature for the SSS image matching and adjusting the relative robot pose by SSS bundle adjustment (BA) with Ceres solver. We use BA for the loop closure constraint of pose-graph SLAM. We used the Incremental Smoothing and Mapping (iSAM) to optimize the graph. The optimized trajectory was compared against the dead reckoning (DR).

• The Journal of the Acoustical Society of Korea
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• v.32 no.2
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• pp.147-156
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• 2013

In this paper, a new speech endpoint detection method in noisy environments for moving robot platforms is proposed. In the conventional method, the endpoint of speech is obtained by applying an edge detection filter that finds abrupt changes in the feature domain. However, since the feature of the frame energy is unstable in such noisy environments, it is difficult to accurately find the endpoint of speech. Therefore, a novel feature extraction method based on the twice-iterated fast fourier transform (TIFFT) and statistical models of speech is proposed. The proposed feature extraction method was applied to an edge detection filter for effective detection of the endpoint of speech. Representative experiments claim that there was a substantial improvement over the conventional method.

• Journal of the Semiconductor & Display Technology
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• v.15 no.2
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• pp.61-65
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• 2016

Facial feature detection is a fundamental function in the field of computer vision such as security, bio-metrics, 3D modeling, and face recognition. There are many algorithms for the function, active shape model is one of the most popular local texture models. This paper addresses issues related to face detection, and implements an efficient extraction algorithm for extracting the facial feature points to use on iOS platform. In this paper, we extend the original ASM algorithm to improve its performance by four modifications. First, to detect a face and to initialize the shape model, we apply a face detection API provided from iOS CoreImage framework. Second, we construct a weighted local structure model for landmarks to utilize the edge points of the face contour. Third, we build a modified model definition and fitting more landmarks than the classical ASM. And last, we extend and build two-dimensional profile model for detecting faces within input images. The proposed algorithm is evaluated on experimental test set containing over 500 face images, and found to successfully extract facial feature points, clearly outperforming the original ASM.

• Advances in Energy Research
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• v.6 no.2
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• pp.91-101
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• 2019

This paper proposes an efficient data-driven approach to build models for predicting energy consumption in buildings. Data used in this research is collected by installing humidity and temperature sensors at different locations in a building. In addition to this, weather data from nearby weather station is also included in the dataset to study the impact of weather conditions on energy consumption. One of the main emphasize of this research is to make feature selection independent of domain knowledge. Therefore, to extract useful features from data, two different approaches are tested: one is feature selection through principal component analysis and second is relative importance-based feature selection in original domain. The regression model used in this research is gradient boosting regression and its optimal parameters are chosen through a two staged coarse-fine search approach. In order to evaluate the performance of model, different performance evaluation metrics like r2-score and root mean squared error are used. Results have shown that best performance is achieved, when relative importance-based feature selection is used with gradient boosting regressor. Results of proposed technique has also outperformed the results of support vector machines and neural network-based approaches tested on the same dataset.

• International Journal of Quality Innovation
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• v.3 no.2
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• pp.113-131
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• 2002

The relationships among multi-dimensional data (such as medical examination data) with ambiguity and variation are difficult to explore. The traditional approach to building a data classification system requires the formulation of rules by which the input data can be analyzed. The formulation of such rules is very difficult with large sets of input data. This paper first describes two classification approaches using back-propagation (BP) neural network and Mahalanobis distance (MD) classifier, and then proposes two classification approaches for multi-dimensional feature selection. The first one proposed is a feature selection procedure from the trained back-propagation (BP) neural network. The basic idea of this procedure is to compare the multiplication weights between input and hidden layer and hidden and output layer. In order to simplify the structure, only the multiplication weights of large absolute values are used. The second approach is Mahalanobis-Taguchi system (MTS) originally suggested by Dr. Taguchi. The MTS performs Taguchi's fractional factorial design based on the Mahalanobis distance as a performance metric. We combine the automatic thresholding with MD: it can deal with a reduced model, which is the focus of this paper In this work, two case studies will be used as examples to compare and discuss the complete and reduced models employing BP neural network and MD classifier. The implementation results show that proposed approaches are effective and powerful for the classification.

• Korean Journal of Remote Sensing
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• v.22 no.3
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• pp.221-228
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• 2006

In this study, an integrated 3D modeling and rendering system dealing with 3D urban landscape features such as terrain, building, road and user-defined geometric ones was designed and implemented using $OPENGL\;{|}\;ES$ (Embedded System) API for mobile devices of PDA. In this system, the authoring functions are composed of several parts handling urban landscape features: vertex-based geometry modeling, editing and manipulating 3D landscape objects, generating geometrically complex type features with attributes for 3D objects, and texture mapping of complex types using image library. It is a kind of feature-based system, linked with 3D geo-based spatial feature attributes. As for the rendering process, some functions are provided: optimizing of integrated multiple 3D landscape objects, and rendering of texture-mapped 3D landscape objects. By the active-synchronized process among desktop system, OPENGL-based 3D visualization system, and mobile system, it is possible to transfer and disseminate 3D feature models through both systems. In this mobile 3D urban processing system, the main graphical user interface and core components is implemented under EVC 4.0 MFC and tested at PDA running on windows mobile and Pocket Pc. It is expected that the mobile 3D geo-spatial information systems supporting registration, modeling, and rendering functions can be effectively utilized for real time 3D urban planning and 3D mobile mapping on the site.

• Journal of Korea Multimedia Society
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• v.24 no.8
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• pp.1026-1034
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• 2021

Tire wear and defect are important factors for safe driving condition. These defects are generally inspected by some specialized experts or very expensive equipments such as stereo depth camera and depth gauge. In this paper, we propose tire safety vision inspector based on deep neural network (DNN). The status of tire wear is categorized into three: 'safety', 'warning', and 'danger' based on depth of tire tread. We propose an attention mechanism for emphasizing the feature of tread area. The attention-based feature is concatenated to output feature maps of the last convolution layer of ResNet-101 to extract more robust feature. Through experiments, the proposed tire wear classification model improves 1.8% of accuracy compared to the existing ResNet-101 model. For detecting the tire defections, the developed tire defect detection model shows up-to 91% of accuracy using the Mask R-CNN model. From these results, we can see that the suggested models are useful for checking on the safety condition of working tire in real environment.

• Computers and Concrete
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• v.32 no.3
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• pp.233-246
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• 2023

Accurate prediction of concrete compressive strength can minimize the need for extensive, time-consuming, and costly mixture optimization testing and analysis. This study attempts to enhance the prediction accuracy of compressive strength using stacking ensemble machine learning (ML) with feature engineering techniques. Seven alternative ML models of increasing complexity were implemented and compared, including linear regression, SVM, decision tree, multiple layer perceptron, random forest, Xgboost and Adaboost. To further improve the prediction accuracy, a ML pipeline was proposed in which the feature engineering technique was implemented, and a two-layer stacked model was developed. The k-fold cross-validation approach was employed to optimize model parameters and train the stacked model. The stacked model showed superior performance in predicting concrete compressive strength with a correlation of determination (R²) of 0.985. Feature (i.e., variable) importance was determined to demonstrate how useful the synthetic features are in prediction and provide better interpretability of the data and the model. The methodology in this study promotes a more thorough assessment of alternative ML algorithms and rather than focusing on any single ML model type for concrete compressive strength prediction.

• International Journal of Computer Science & Network Security
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• v.23 no.7
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• pp.131-140
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• 2023

Network security situational awareness systems helps in better managing the security concerns of a network, by monitoring for any anomalies in the network connections and recommending remedial actions upon detecting an attack. An Intrusion Detection System helps in identifying the security concerns of a network, by monitoring for any anomalies in the network connections. We have proposed a CRF based IDS system using genetic search feature selection algorithm for network security situational awareness to detect any anomalies in the network. The conditional random fields being discriminative models are capable of directly modeling the conditional probabilities rather than joint probabilities there by achieving better classification accuracy. The genetic search feature selection algorithm is capable of identifying the optimal subset among the features based on the best population of features associated with the target class. The proposed system, when trained and tested on the bench mark NSL-KDD dataset exhibited higher accuracy in identifying an attack and also classifying the attack category.

• Proceedings of the Korean Information Science Society Conference
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• 2008.06a
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• pp.122-123
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• 2008