• Journal of Auto-vehicle Safety Association
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• v.13 no.4
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• pp.7-13
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• 2021

This paper presents an vulnerable road user (VRU) classification and tracking algorithm using vision and LiDAR sensor fusion method for urban autonomous driving. The classification and tracking for vulnerable road users such as pedestrian, bicycle, and motorcycle are essential for autonomous driving in complex urban environments. In this paper, a real-time object image detection algorithm called Yolo and object tracking algorithm from LiDAR point cloud are fused in the high level. The proposed algorithm consists of four parts. First, the object bounding boxes on the pixel coordinate, which is obtained from YOLO, are transformed into the local coordinate of subject vehicle using the homography matrix. Second, a LiDAR point cloud is clustered based on Euclidean distance and the clusters are associated using GNN. In addition, the states of clusters including position, heading angle, velocity and acceleration information are estimated using geometric model free approach (GMFA) in real-time. Finally, the each LiDAR track is matched with a vision track using angle information of transformed vision track and assigned a classification id. The proposed fusion algorithm is evaluated via real vehicle test in the urban environment.

• Spatial Information Research
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• v.17 no.1
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• pp.131-144
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• 2009

Recently, a lot of local autonomous entities are promoting Ubiquitous City(U-City) Construction by integrating Information Communication Technology(ICT) with city development, and also internationally, a lot of cities are making efforts to develop U-City to intensify a city's competitive strength and improve life quality of city dwellers. In keeping with such a stream of the times, each local autonomous entity and project developer are developing a lot of methodologies to establish optimal U-City in corresponding cities and also inquiring into a variety of development procedures, such as connecting existing urban development methods with information establishment methods. The method used usually is to establish Information strategy Plan(ISP) for a city which will be developed through consulting in the stage of city development planning. ISP is to establish vision & strategy for building the ubiquitous city and is a methodology including city vision, strategy, goal, and implementation method, etc. However, due to a lot of variables, such as a variety of city environment, establishment period, budget, information technology, and etc., it is difficult to contain establishment plans for every occasion in a similar method, in reality. Therefore, it is naturally necessary to suggest plans for city vision & strategy, and selection of element technology/service. Thus, this paper suggests models for vision & strategy establishment of U-City and suggests Top-Down Approach and Bottom-Up Approach method as a plan for U-City establishment. In addition, this paper analyzes general promotion methodologies for constructing U-City and analyzes how these two strategic methods [Top-Down Approach and Bottom-Up Approach] for city vision establishment are composed in such a methodology, to define and analyze its constituent plan.

• Journal of Sensor Science and Technology
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• v.7 no.2
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• pp.124-130
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• 1998

High-speed 3D vision systems are essential for autonomous robot or vehicle control applications. In our study, a stereo vision process has been developed. It consists of three steps : extraction of edges in right and left images, matching corresponding edges and calculation of the 3D map. This process is implemented in a VME 150/40 Imaging Technology vision system. It is a modular system composed by a display, an acquisition, a four Mbytes image frame memory, and three computational cards. Programmable accelerator computational modules are running at 40 MHz and are based on TMS320C31 DSP with a $64{\times}32$ bit instruction cache and two $1024{\times}32$ bit internal RAMs. Each is equipped with 512 Kbytes static RAM, 4 Mbytes image memory, 1 Mbytes flash EEPROM and a serial port. Data transfers and communications between modules are provided by three 8 bit global video bus, and three local configurable pipeline 8 bit video bus. The VME bus is dedicated to system management. Tasks between DSPs are distributed as follows: two DSPs are used to edges detection, one for the right image and the other for the left one. The last processor computes the matching process and the 3D calculation. With $512{\times}512$ pixels images, this sensor generates dense 3D maps at a rate of about 1 Hz depending of the scene complexity. Results can surely be improved by using a special suited multiprocessors cards.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.16 no.2
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• pp.104-110
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• 2016

Dense local image descriptors like SIFT are fruitful for capturing salient information about image, shown to be successful in various image-related tasks when formed in bag-of-words representation (i.e., histograms). In this paper we consider to utilize these dense local descriptors in the object tracking problem. A notable aspect of our tracker is that instead of adopting a point estimate for the target model, we account for uncertainty in data noise and model incompleteness by maintaining a distribution over plausible candidate models within the Bayesian framework. The target model is also updated adaptively by the principled Bayesian posterior inference, which admits a closed form within our Dirichlet prior modeling. With empirical evaluations on some video datasets, the proposed method is shown to yield more accurate tracking than baseline histogram-based trackers with the same types of features, often being superior to the appearance-based (visual) trackers.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.3
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• pp.298-305
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• 2012

In this paper, we propose an integrated algorithm for scene recognition, which has been a challenging computer vision problem, with application to mobile robot localization. The proposed scene recognition method utilizes SIFT and visual words as local-level features and GIST as a global-level feature. As local-level and global-level features complement each other, it results in improved performance for scene recognition. This improved algorithm is of low computational complexity and robust to image distortions.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1881_1882
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• 2009

Simple quadratic potential functions for unicycle robot path planning are presented, where proposed algorithm for path planning has the different environment for each robot based on LOS(Line Of Sight) between a target and an obstacle, unlike a conventional path planning. In doing so, the proposed algorithm assumes that each swarm robot equips its own vision instead of a ceiling camera. In particular, this paper presents that each robot follows its different local leader. As a result proposed algorithm reduces local minimum problems by the help of each local leader.

• Journal of Multimedia Information System
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• v.1 no.2
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• pp.119-126
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• 2014

We propose a bicycle detection system riding on people based on modified projected local binary pattern(PLBP) for vision based intelligent vehicles. Projection method has robustness for rotation invariant and reducing dimensionality for original image. The features of Local binary pattern(LBP) are fast to compute and simple to implement for object recognition and texture classification area. Moreover, We use uniform pattern to remove the noise. This paper suggests that modified LBP method and projection vector having different weighting values according to the local shape and area in the image. Also our system maintains the simplicity of evaluation of traditional formulation while being more discriminative. Our experimental results show that a bicycle and motorcycle riding on people detection system based on proposed PLBP features achieve higher detection accuracy rate than traditional features.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.1
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• pp.224-241
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• 2015

Multiview plus depth (MVD) videos are widely used in free-viewpoint TV systems. The best-known technique to determine depth information is based on stereo vision. In this paper, we propose a novel local stereo matching algorithm which is radiometric invariant. The key idea is to use a combined matching cost of intensity and gradient based similarity measure. In addition, we realize an adaptive cost aggregation scheme by constructing an adaptive support window for each pixel, which can solve the boundary and low texture problems. In the disparity refinement process, we propose a four-step post-processing technique to handle outliers and occlusions. Moreover, we conduct stereo reconstruction tests to verify the performance of the algorithm more intuitively. Experimental results show that the proposed method is effective and robust against local radiometric distortion. It has an average error of 5.93% on the Middlebury benchmark and is compatible to the state-of-art local methods.

• Journal of Korean Society of Rural Planning
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• v.18 no.3
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• pp.187-200
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• 2012

This article deals with rural village development project of Namsunghyun 'Gamggot(persimmon flower)' area, based on local tourism resources. For more efficient use of local tourism resources, questionnaire surveys for local residents and visitors were conducted. On the base of the results, the vision and objectives were established. And each items of project by division were also considered by the results of such surveys. Finally, priority scores of each items of project, based on importances and weighted value, were derived for more efficient propulsion of project and to construct sustainable rural community.

• Journal of the Semiconductor & Display Technology
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• v.18 no.4
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• pp.110-115
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• 2019

Blur detection and segmentation play vital role in many computer vision applications. Among various methods, local binary pattern based methods provide reasonable blur detection results. However, in conventional local binary pattern based methods, the blur map is computed by using a fixed threshold irrespective of the type and level of blur. It may not be suitable for images with variations in imaging conditions and blur. In this paper we propose an effective method based on local binary pattern with adaptive threshold for blur detection. The adaptive threshold is computed based on the model learned through the multinomial logistic regression. The performance of the proposed method is evaluated using different datasets. The comparative analysis not only demonstrates the effectiveness of the proposed method but also exhibits it superiority over the existing methods.