• Journal of the Korean Institute of Telematics and Electronics
• /
• v.24 no.4
• /
• pp.667-674
• /
• 1987

In this paper an effective block matching algorithm is proposed to find the motion vector. There are two approaches to the estimation of the motion vector in MCC (motion compensated coding), i.e., pel(pixel element) recursive algorithm and block matching algorithm. The search algorithm in this paper is based on the block matching method. The advantage of a proposed algorithm using integral projections is the reduction of the computation time. While the conventional block matching methods have to be computed in 2-dimensional arrays, the proposed algorithm using integral projections can be computed in 1-dimensional arrays. In comparison with conventional block matching methods, a computer simulation shows that though the prediction error increases 0.23 db, it is not detectable for human eyes and the average reduction ratio of computation time obtained from the proposed algorithm is about 3-4.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.10
• /
• pp.965-971
• /
• 2015

This paper suggests a feature point-based Iterative Closest Point (ICP) algorithm to compensate for the disparity error in building a two-dimensional map. The ICP algorithm is a typical algorithm for matching a common object in two different images. In the process of building a two-dimensional map using the laser scanner data, warping and distortions exist in the map because of the disparity between the two sensor values. The ICP algorithm has been utilized to reduce the disparity error in matching the scanned line data. For this matching process in the conventional ICP algorithm, pre-known reference data are required. Since the proposed algorithm extracts characteristic points from laser-scanned data, reference data are not required for the matching. The laser scanner starts from the right side of the mobile robot and ends at the left side, which causes disparity in the scanned line data. By finding the matching points between two consecutive frame images, the motion vector of the mobile robot can be obtained. Therefore, the disparity error can be minimized by compensating for the motion vector caused by the mobile robot motion. The validity of the proposed algorithm has been verified by comparing the proposed algorithm in terms of map-building accuracy to conventional ICP algorithm real experiments.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.37 no.5
• /
• pp.367-377
• /
• 2019

As an alternative navigation system for the non-GNSS (Global Navigation Satellite System) environment, a new type of DBRN (DataBase Referenced Navigation) which applies both gravity gradient and terrain, and combines filter-based algorithm with profile matching was suggested. To improve the stability of the performance compared to the previous study, both centralized and decentralized EKF (Extended Kalman Filter) were constructed based on gravity gradient and terrain data, and one of filters was selected in a timely manner. Then, the final position of a moving vehicle was determined by combining a position from the filter with the one from a profile matching. In the simulation test, it was found that the overall performance was improved to the 19.957m by combining centralized and decentralized EKF compared to the centralized EKF that of 20.779m. Especially, the divergence of centralized EKF in two trajectories located in the plain area disappeared. In addition, the average horizontal error decreased to the 16.704m by re-determining the final position using both filter-based and profile matching solutions. Of course, not all trajectories generated improved performance but there is not a large difference in terms of their horizontal errors. Among nine trajectories, eights show smaller than 20m and only one has 21.654m error. Thus, it would be concluded that the endemic problem of performance inconsistency in the single geophysical DB or algorithm-based DBRN was resolved because the combination of geophysical data and algorithms determined the position with a consistent level of error.

• Journal of Electrical Engineering and Technology
• /
• v.10 no.5
• /
• pp.2189-2196
• /
• 2015

Stereo matching algorithm is usually used to obtain a disparity map from a pair of images. However, the disparity map obtained by using stereo matching contains lots of noise and error regions. In this paper, we propose a virtual-view synthesis algorithm using disparity refinement in order to improve the quality of the synthesized image. First, the error region is detected by examining the consistency of the disparity maps. Then, motion information is acquired by applying optical flow to texture component of the image in order to improve the performance. Then, the occlusion region is found using optical flow on the texture component of the image in order to improve the performance of the optical flow. The refined disparity map is finally used for the synthesis of the virtual view image. The experimental results show that the proposed algorithm improves the quality of the generated virtual-view.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
• /
• 2006.11a
• /
• pp.357-358
• /
• 2006

Accurate calibration matching for maladjusted stereo cameras with calibrated pixel distance parameter is presented. The camera calibration is a necessary procedure for stereo vision-based depth computation. Intra and extra parameters should be obtain to determine the relation between image and world coordination through experiment. One difficulty is in camera alignment for parallel installation: placing two CCD arrays in a plane. No effective methods for such alignment have been presented before. Some amount of depth error caused from such non-parallel installation of cameras is inevitable. If the pixel distance parameter which is one of Intra parameter is calibrated with known points, such error can be compensated in some amount and showed the variable experiments for accurate effects.

• Journal of Communications and Networks
• /
• v.12 no.1
• /
• pp.5-10
• /
• 2010

This paper introduces a new fast motion estimation based on estimating a block matching error (i.e., sum of absolute difference (SAD)) between blocks which can eliminate an impossible candidate block much earlier than a conventional partial distortion elimination (PDE) scheme. The basic idea of the proposed scheme is based on predicting the total SAD of a candidate block using its partial SAD. In particular, in order to improve prediction accuracy and computational efficiency, a sub-sample based block matching and a selective pixel-based approaches are employed. In order to evaluate the proposed scheme, several baseline approaches are described and compared. The experimental results show that the proposed algorithm can reduce the computations by about 44% for motion estimation at the cost of 0.0005 dB quality degradation versus the general PDE algorithm.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.32 no.5C
• /
• pp.487-495
• /
• 2007

When error occurs during the network transmission of the image, the quality of the restored image is very serious. Therefore to maintain the received image quality, the error concealment technique is necessary. This paper presents an efficient spatial error concealment method using adaptive edge-oriented interpolation. It deals with errors on slice level. The proposed method uses boundary matching method having 2-step processes. We divide error block into external and internal region, adaptively restore each region. Because this method use overall as well as local edge characteristics, it preserves edge continuity and texture feature. The proposed technique reduces the complexity and provide better reconstruction quality for damaged images than the previous methods.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.68 no.3
• /
• pp.471-479
• /
• 2019

This research proposes a indoor magnetic map matching algorithm that improves the position accuracy by employing multiple magnetic sensors and probabilistic candidate weighting function. Since the magnetic field is easily distorted by the surrounding environment, the distorted magnetic field can be used for position mapping, and multiple sensor configuration is useful to improve mapping accuracy. Nevertheless, the position error is likely to increase because the external magnetic disturbances have repeated pattern in indoor environment and several points have similar magnetic field distortion characteristics. Those errors cause large position error, which reduces the accuracy of the position detection. In order to solve this problem, we propose a method to reduce the error using multiple sensors and likelihood boundaries that uses human walking characteristics. Also, to reduce the maximum position error, we propose an algorithm that weights according to their importance. We performed indoor walking tests to evaluate the performance of the algorithm and analyzed the position detection error rate and maximum distance error. From the results we can confirm that the accuracy of position detection is greatly improved.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.50 no.1
• /
• pp.276-284
• /
• 2013

This paper considers the transfer alignment in the inertial navigation system and the observability analysis is performed for velocity matching. The state variable of the Kalman filter is modeled including the lever arm error and the measurement equation is obtained. The SOM(Stripped Observability Matrix) method is used for the observability analysis for various maneuvering conditions of the vehicle, which gives the full state observability condition as a specific maneuver sequence of the vehicle. While the observability analysis of a lever arm effect in the existing papers is mainly performed by simulations, we performed it analytically by the observability analysis method. The analysis result is verified using the computer simulations.

• ETRI Journal
• /
• v.8 no.1
• /
• pp.3-5
• /
• 1986

본 고는 image의 pattern을 identify하기 위해 그 image data의 FFT(Fast Fourier Transform)를 취한 후 에너지 스펙트럼의 크기를 폐적분한 값으로 부터 original input object와 비교대상의 object에 대한 mean square error 값의 차이를 시뮬레이션한 결과 얻은 threshold value와 비교함으로써 matching 을 구현하기 위함이다. Vax11-780/vms와 Fortran77 Language를 사용하여 시뮬레이션을 수행하였으며 Tektronix graphic terminal이 digitized된 이미지의 모니터용으로 사용되었다.