• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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• pp.369-371
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• 2009

휴머노이드 로봇에서 스스로 환경을 인식하는 기술은 필수적으로 필요하다. 그러나 정확하게 환경을 인식하기 위해서는 휴머노이드 움직임을 추정하여 보정해야 한다. 따라서 본 논문에서는 type-2 퍼지셋을 이용하여 휴머노이드 로봇의 움직임을 스테레오 비전기반으로 추정하는 방법을 제안하고자 한다. 본 연구에서는 우선 스테레오 비전으로 얻은 Disparity Map을 Type-2 퍼지셋을 이용하여 추적할 대상을 추출한다. 추출된 대상은 보다 정확한 계산을 위하여 Wavelet Transform을 이용하여 정보량을 확장하였으며, 그 결과로 얻어진 결과영상들은 다시 Least suqare approximation과 Type-2 퍼지셋을 이용하여 하나의 결과값으로 나타내어진다. 연속된 두 이미지의 움직임을 추정함으로써 로봇의 움직임을 추정하게 된다. 제안된 방법은 실험을 통하여 그 추정 정확도나 연산속도 면에서 효율적임을 알 수 있었다.

• 소음진동
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• 제8권3호
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• pp.408-419
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• 1998

Dynamic characteristics are investigated when a nonlinear system showing periodic and chaotic responses under harmonic excitation is exposed to random perturbation. Approach for both qulitative and quantitative analysis of the noise effect in a nonlinear system under harmonic excitation is presented. For the qualitative analysis, Lyapunov exponents are calculated and Poincar map is illustrated. For the quatitative analysis. Fokker-Planck equatin is solved numerical by means of a Path-integral solution procedure. Eigenvalue problem obtained from the numerical caculation is solved and the relation of eigenvalue, eigenvector and chaotic motion is investigated.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2009년도 IWAIT
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• pp.71-75
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• 2009

In this paper, we present a real-time method to detect moving objects in a rotating and zooming camera. It is useful for camera surveillance of fixed but rotating camera, camera on moving car, and so on. We first compensate the global motion, and then exploit the displaced frame difference (DFD) to find the block-wise boundary. For robust detection, we propose a kind of image to combine the detections from consecutive frames. We use the block-wise detection to achieve the real-time speed, except the pixel-wise DFD. In addition, a fast block-matching algorithm is proposed to obtain local motions and then global affine motion. In the experimental results, we demonstrate that our proposed algorithm can handle the real-time detection of common object, small object, multiple objects, the objects in low-contrast environment, and the object in zooming camera.

• 한국통신학회논문지
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• 제23권9A호
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• pp.2372-2382
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• 1998

In this paper, we propose a new edge based finite state vector quantization method having better performance than conventional side-match finite state vector quantization. In our proposed scheme, each dCT transformed block is classified to 17 classes according to edge types. Each class has a different codebook based on its characteristis. Encoder classified each block to motion block or stationary block and constructed a merging map by using edge and motion information, and sent to decoder. We controled amoutn of bing bits transmitted with selecting modes accoridng to bandwidth of transmitting channel. Compared with conventional algorithms, H.263 and H.261 at low bit rate, our proposed algorithm shows better picture quality and good performance.

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2018년도 춘계 종합학술대회 논문집
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• pp.53-54
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• 2018

This paper introduces an approach to detect motion areas of stationary objects when the camera slightly moves in the scene by computing optical flow. The flow field is computed by two pyramidal architectures of 5 levels which are built by down-sampling the size of the images by half at each level. Two pyramids of images are built and then optical flow is computed at each level. A warping process combines the information and generates a final flow field after applying edge smoothness and outliers reduction steps. Moreover, we convert the flow vectors in order of magnitude and angle to a color map using a pseudo-color palette. Experimental results in the Middlebury optical flow dataset demonstrate the effectiveness of our method compared to other approaches.

• 한국산업융합학회 논문집
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• 제17권2호
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• pp.42-53
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• 2014

Robust voice recognition (RVR) is essential for a robot to communicate with people. One of the main problems with RVR for robots is that robots inevitably real environment noises. The noise is captured with strong power by the microphones, because the noise sources are closed to the microphones. The signal-to-noise ratio of input voice becomes quite low. However, it is possible to estimate the noise by using information on the robot's own motions and postures, because a type of motion/gesture produces almost the same pattern of noise every time it is performed. In this paper, we propose an RVR system which can robustly recognize voice by adults and children in noisy environments. We evaluate the RVR system in a communication robot placed in a real noisy environment. Voice is captured using a wireless microphone. Navigation Strategy is shown Obstacle detection and local map, Design of Goal-seeking Behavior and Avoidance Behavior, Fuzzy Decision Maker and Lower level controller. The final hypothesis is selected based on posterior probability. We then select the task in the motion task library. In the motion control, we also integrate the obstacle avoidance control using ultrasonic sensors. Those are powerful for detecting obstacle with simple algorithm.

• 천문학회보
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• 제35권2호
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• pp.82.1-82.1
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• 2010

We have investigated the spatial configuration of stars within the tidal radius of metal poor globular cluster NGC 6626 in the bulge direction. Data were obtained in near-IR J,H,Ks bands with wide-field ($20'\times20'$) detector, WIRCam at CFHT. To trace the stellar density around target cluster, we sorted cluster's member stars by using a mask filtering algorithm and weighting the stars on the color-magnitude diagram. From the weighted surface density map, we found that the stellar spatial distributions within the tidal radius appear asymmetric and distorted features. Especially, we found that more prominent over-density features are extending toward the direction of Galactic plane rather than toward the directions of the Galactic center and its orbital motion. This orientation of the stellar density distribution can be interpreted with result of disk-shock effect of the Galaxy that the cluster had been experienced. Indeed, this over-density feature are well represented in the radial surface density profile for different angular sections. As one of the metal poor globular clusters with extended horizontal branch (EHB) in the bulge direction, NGC 6626 is kinematically decoupled from the normal clusters and known to have disk motion of peculiar motion. Thus, our result will be able to add further constraints to understand the origin of this cluster and the formation of bulge region in early universe.

• 한국해안해양공학회지
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• 제19권3호
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• pp.237-243
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• 2007

잔교식 안벽구조물의 확률론적 지진위험도 해석을 수행하였다. 부지응답해석을 통해 증폭된 지표 지진이 구조물에 가해질 때 강관파일의 조합응력비와 최대수평변위가 한계상태를 초과하는 확률을 지진취약도 곡선으로 표현하였다. 해당 지역의 지진발생확률은 항만설계기준의 지진재해도를 이용하여 최대지반가속도의 초과확률을 구할 수 있었다. 구조물의 최종적인 지진위험도는 지진취약도와 지진재해도를 이용하여 산정하였으며 수치해석 예제를 통해 그 결과를 제시하였다.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2013년도 하계학술대회
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• pp.348-350
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• 2013

본 논문에서는 깊이영상의 특징을 이용하여 깊이영상에 보다 적합한 움직임 예측방법에 대한 방식을 제안한다. 기존 컬러영상 기반으로 제안되었던 대부분의 움직임 예측 방법들이 깊이영상에 적용할 경우 local minimum 에 빠지게 되어 이에 따른 압축 성능 저하가 있음을 확인하였다. 본 논문에서는 이러한 문제점들이 깊이영상의 오브젝트 경계 영역에서 나타나게 됨을 분석하며, 이러한 문제점을 해결하기 위해 깊이영상의 경계 영역에 대해 feature matching 방식을 이용한 full search 방식을 제안한다. 실험적인 결과는 제안방식이 기존 full search 방식과 비교하여 성능은 비슷하게 유지한 채 복잡도를 크게 개선할 수 있음을 보여준다.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2014년도 추계학술대회
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• pp.259-260
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• 2014

본 논문에서는 영상에 존재하는 운동정보를 이용하여 관심맵을 얻는 방법을 제안한다. 운동의 크기, 방향, 그리고 영상의 색을 이용한다. 이를 이용함으로써 기존의 static image에서 구하는 관심맵보다 향상된 결과를 얻을 수 있다. 실험에서는 다양한 모션이 존재하는 영상을 이용하여 제안방법의 우수성을 증명하였다.