• Proceedings of the KIEE Conference
• /
• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
• /
• pp.524-526
• /
• 2006

We proposes integrated information system, Service Robot Information System(SRIS), for mobile robot. The system has objectives that can heir efficient management and sharing as support information for mobile service robot like recognition, navigation, manipulation and modeling. This paper introduces the concert and architecture of SRIS. An Implementation is done by using ER based database and CAD modeling which is DXF format. The experimental shows the result of object and environment map matching by SLAM. This system is expected that can help reduce the cost and efforts of information management under multiple mobile robot environment.

• Proceedings of the KSRS Conference
• /
• 대한원격탐사학회 2004년도 Proceedings of ISRS 2004
• /
• pp.509-511
• /
• 2004

This paper outlines the development of image processing system, which will allow the general users in Government and Public organizations easily to use and apply KOMPSAT EOC images in their own business. The system includes an import/export module of EOC image distributed in Hierarchical Data Format (HDF) file and various image processing analysis modules. Especially, the image mosaic and subset functions are designed to use EOC image as an image map, generating the Ortho-image module. To update the various spatial data with EOC image, some essential modules such as change detection by pattern recognition, overlay between images and vector data, and modification of vector data are implemented in the system. The system is developed based on the user request analysis of government agency, and suited for more efficient use of satellite image in public applications. Such system is expected to contribute to practical application of KOMPSAT-2 that will be launched in 2005. Further efforts will be made to accommodate the KOMPSAT -2 MSC data.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 한국퍼지및지능시스템학회 2004년도 추계학술대회 학술발표 논문집 제14권 제2호
• /
• pp.560-563
• /
• 2004

본 논문은 분노, 행복, 평정, 슬픔, 놀람 둥과 같은 인간의 감정상태를 인식하는 새로운 접근에 대해 설명한다. 이러한 시도는 이산길이를 포함하는 연속 은닉 마르코프 모델(HMM)을 사용함으로써 이루어진다. 이를 위해, 우선 입력음성신호로부터 감정의 특징 파라메타를 정의 한다. 본 연구에서는 피치 신호, 에너지, 그리고 각각의 미분계수 등의 운율 파라메타를 사용하고, HMM으로 훈련과정을 거친다. 또한, 화자적응을 위해서 최대 사후확률(MAP) 추정에 기초한 감정 모델이 이용된다. 실험 결과, 음성에서의 감정 인식률은 적응 샘플수의 증가에 따라 점차적으로 증가함을 보여준다.

• The Transactions of the Korean Institute of Electrical Engineers P
• /
• 제65권1호
• /
• pp.66-71
• /
• 2016

According to the development of depth sensing devices and depth estimation technology, depth information becomes more important for object detection in computer vision. In terms of recognition rate, pedestrian detection methods have been improved more accurately. However, the methods makes slower detection time. So, many researches have overcome this problem by using GPU. Here, we propose a real-time pedestrian detection algorithm that does not rely on GPU. First, the depth-weighted distance map is used for detecting expected human regions. Next, human detection is performed on the regions. The performance for the proposed approach is evaluated and compared with the previous methods. We show that proposed method can detect human about 7 times faster than conventional ones.

• Proceedings of the IEEK Conference
• /
• 대한전자공학회 2003년도 신호처리소사이어티 추계학술대회 논문집
• /
• pp.321-324
• /
• 2003

This paper presents a novel system that analyzes and recognizes a gait based on shape context on silhouette images. The main functions of the system consist of three steps: First, the system extracts the silhouette images from galt image sequence by performing a simple pre-processing and acquires the AGM(Averaged Gait Map) by averaging them. Next. it computes the cross-correlation between the AGMs. Finally, it classifies the AGMs based on the cross-correlation using nearest neighborhood classification. The proposed system uses two cues to classify a gait: One corresponds to biometric shape cue such as body height width. and body-part proportions. The other corresponds to gait cue such as stride length and amount of arm swing. Perceptionally, the biometric cues are sailent on the double support (both legs spread and touching the ground) while the gait cues on the midstance. Through a variety of experiments, it is proved that the property of a gait is mainly influenced by gait cues than biometric cues.

• Proceedings of the Acoustical Society of Korea Conference
• /
• 한국음향학회 1998년도 제15회 음성통신 및 신호처리 워크샵(KSCSP 98 15권1호)
• /
• pp.39-42
• /
• 1998

음성인식기능을 이용한 지도정보 검색 시스템의 실용화를 위하여 독자적인 지도검색 알고리즘을 구현하여 기존의 GIS 용 검색툴을 이용함으로서 소요되는 비용을 최저화하면서도 어느 정도의 검색속도를 유지할 수 있는 음성구동지도검색시스템 구현을 위해 개발한 검색엔진의 성능 평가 실험을 통하여 그 유효성을 확인하고자 한다. 지도정보 검색시스템은 크게 음성인식부, 지도검색부로 나눌 수 있으며, 음성인식부에서는 유한상태오토마타에 의한 구문 제어를 통하여 OPDP 법으로 대상 단어의 인식을 수행하고, 지도검색부에서는 기존의 시스템에 사용된 OLE 기법에 기저한 Mapinfo 툴을 이용하지 않고, Visual C++를 이용한 독자적인 알고리즘을 구성하여 지도자료를 읽어 들이도록 구성하였다. 평가결과, 사무실 환경하에서 지도검색용 68단어를 대상으로 실시한 on-line test에서 검색 대상 단어인식률은 98.02%를 얻었으며, 이 때 해당지도를 화면에 나타내는데 걸리는 시간은 평균 18.2초가 소요되었다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
• /
• pp.816-820
• /
• 1990

This paper is pre-stage for getting EGI which can be used for modeling of an object. It discusses the construction of the vision processing system and its algorithm for getting needle diagram from tie object image. We realize the algorithm with monocular camera system, using Reflectance Map theory and photometric stereo method. We can calculate the surface normal at any point in the image if we take multiple images at the different lighting conditions. From the 3 images taken from different lighting conditions through the experiment, we get the needle diagrams of the sphere and the object. We confirm the validness of the surface, normal acquisition algorithm comparing the experimental needle diagram with the ideal one obtained from the surface normal of the known object.

• Journal of the Institute of Electronics Engineers of Korea TE
• /
• 제42권4호
• /
• pp.33-40
• /
• 2005

This paper represents the stable path recognition by the ultrasonic sensor which gathers navigation environments and the monocular image sensor which generates the self localization information of mobile robot. The proposed ultrasonic sensor and vision camera system recognizes the target and extracts parameters for generating the world map and self localization. Therefore, this paper has developed an indoor mobile robot and has stably demonstrated in a corridor environment.

• Proceedings of the KIEE Conference
• /
• 대한전기학회 2008년도 제39회 하계학술대회
• /
• pp.1909-1910
• /
• 2008

본 논문에서는 실린더 모델을 이용하여 머리의 다양한 포즈 변화와 조명 변화에 대해 강인한 얼굴 인식을 제안하고자 한다. 실린더 모델은 사람의 머리가 실린더 모양과 유사하고 그 표면은 얼굴에 해당된다고 가정한다. 실린더 모델은 6가지의 모션 파라메터를 따라 움직이며 Lucas-Kanade 알고리즘에 의해 모션 파라메터의 양을 결정한다. 강인한 동작을 위해 템플릿을 지속적으로 바꿔주는 동적 템플릿(dynamic template)방법과 그에 따른 에러가 누적되는 것을 막기 위해 re-registration방법을 사용한다. 조명 문제를 해결하기 위해 템플릿에서 조명 주성분 벡터를 추출하여 제거하는 방법으로 조명 효과를 제거한다. 실험에서는 다양한 포즈 변화와 조명 변화가 반영된 얼굴 데이터베이스를 구축하고 추출한 텍스쳐 맵(texture map image)을 SVM에 적용함으로서 포즈, 조명 변화에 강인한 얼굴인식을 보인다.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• 제19권2호
• /
• pp.251-259
• /
• 2010

It is presented in this study a new efficient intelligent machining strategy, which can be used to remove the uncut volume at the boundary region of curved surfaces caused by cutter interference. The geometric form definitions and recognition of topological features of the surface triangulation mesh are used to generate cutter paths along successive and interconnected steepest pathways, that minimize the cusp height left after flat end milling. In order to machine the uncut volume gradually, the z-map cutter centers are adjusted to avoid cutter interference for the 6 kinds of avoidance types. And then, the generative subsequent paths are sequenced to determine the second step cutter paths for the next uncut volume. For the 2 kinds of test models with convex and concave surface region, the implemented software algorithm is evaluated by investigating the residual swelling of uncut volume for each machining step.