• Journal of Korean Society for Geospatial Information Science
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• v.21 no.3
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• pp.55-62
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• 2013

This paper aims to detect Speed Bump by using Omni-directional Camera and to suggest Real-time update scheme of Speed Bump through Vision Based Approach. In order to detect Speed Bump from sequence of camera images, noise should be removed as well as spot estimated as shape and pattern for speed bump should be detected first. Now that speed bump has a regular form of white and yellow area, we extracted speed bump on the road by applying erosion and dilation morphological operations and by using the HSV color model. By collecting huge panoramic images from the camera, we are able to detect the target object and to calculate the distance through GPS log data. Last but not least, we evaluated accuracy of obtained result and detection algorithm by implementing SLAMS (Simultaneous Localization and Mapping system).

• Journal of Internet Computing and Services
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• v.8 no.6
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• pp.43-53
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• 2007

Intrusion detection system(IDS) has recently evolved while combining signature-based detection approach with anomaly detection approach. Although signature-based IDS tools have been commonly used by utilizing machine learning algorithms, they only detect network intrusions with already known patterns, Ideal IDS tools should always keep the signature database of your detection system up-to-date. The system needs to generate the signatures to detect new possible attacks while monitoring and analyzing incoming network data. In this paper, we propose a new outlier cluster detection algorithm with density (or influence) function, Our method assumes that an outlier is a kind of cluster with similar instances instead of a single object in the context of network intrusion, Through extensive experiments using KDD 1999 Cup Intrusion Detection dataset. we show that the proposed method outperform the conventional outlier detection method using Euclidean distance function, specially when attacks occurs frequently.

• School Mathematics
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• v.9 no.3
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• pp.375-396
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• 2007

The purpose of this study is to analyze how a mathematics teacher and a high school student make the meaning in a graph and how aspects of the interpretation of a graph are interacted during the signification process, and to suggest considerations for teaching and learning of a graph. The findings of a case study have led to conclusions as follows: All of them have a difficulty in making the meaning in a graph and construct the meaning as a nested signification model. In the process which they make the meaning, they interrelate cognitive, contextual, and affective aspects and construct interpretants. In this process, a teacher focuses on cognitive aspect, based on a qualitative approach. But a student considers contextual aspect more, based on a quantitative approach. This study suggests three considerations for teaching and learning of a graph.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.2 no.3
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• pp.53-60
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• 2009

The vision-based driver fatigue detection is one of the most prospective commercial applications of facial expression recognition technology. The facial feature tracking is the primary technique issue in it. Current facial tracking technology faces three challenges: (1) detection failure of some or all of features due to a variety of lighting conditions and head motions; (2) multiple and non-rigid object tracking; and (3) features occlusion when the head is in oblique angles. In this paper, we propose a new active approach. First, the active IR sensor is used to robustly detect pupils under variable lighting conditions. The detected pupils are then used to predict the head motion. Furthermore, face movement is assumed to be locally smooth so that a facial feature can be tracked with a Kalman filter. The simultaneous use of the pupil constraint and the Kalman filtering greatly increases the prediction accuracy for each feature position. Feature detection is accomplished in the Gabor space with respect to the vicinity of predicted location. Local graphs consisting of identified features are extracted and used to capture the spatial relationship among detected features. Finally, a graph-based reliability propagation is proposed to tackle the occlusion problem and verify the tracking results. The experimental results show validity of our active approach to real-life facial tracking under variable lighting conditions, head orientations, and facial expressions.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2004.05b
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• pp.603-607
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• 2004

The vision-based driver fatigue detection is one of the most prospective commercial applications of facial expression recognition technology. The facial feature tracking is the primary technique issue in it. Current facial tracking technology faces three challenges: (1) detection failure of some or all of features due to a variety of lighting conditions and head motions; (2) multiple and non-rigid object tracking and (3) features occlusion when the head is in oblique angles. In this paper, we propose a new active approach. First, the active IR sensor is used to robustly detect pupils under variable lighting conditions. The detected pupils are then used to predict the head motion. Furthermore, face movement is assumed to be locally smooth so that a facial feature can be tracked with a Kalman filter. The simultaneous use of the pupil constraint and the Kalman filtering greatly increases the prediction accuracy for each feature position. Feature detection is accomplished in the Gabor space with respect to the vicinity of predicted location. Local graphs consisting of identified features are extracted and used to capture the spatial relationship among detected features. Finally, a graph-based reliability propagation is proposed to tackle the occlusion problem and verify the tracking results. The experimental results show validity of our active approach to real-life facial tracking under variable lighting conditions, head orientations, and facial expressions.

• The KIPS Transactions:PartB
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• v.10B no.6
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• pp.657-664
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• 2003

Reliable tracking of moving humans is essential to motion estimation, video surveillance and human-computer interface. This paper presents a new approach to human motion tracking that combines appearance-based and model-based techniques. Monocular color video is processed at both pixel level and object level. At the pixel level, a Gaussian mixture model is used to train and classily individual pixel colors. At the object level, a 3D human body model projected on a 2D image plane is used to fit the image data. Our method does not use inverse kinematics due to the singularity problem. While many others use stochastic sampling for model-based motion tracking, our method is purely dependent on nonlinear programming. We convert the human motion tracking problem into a nonlinear programming problem. A cost function for parameter optimization is used to estimate the degree of the overlapping between the foreground input image silhouette and a projected 3D model body silhouette. The overlapping is computed using computational geometry by converting a set of pixels from the image domain to a polygon in the real projection plane domain. Our method is used to recognize various human motions. Motion tracking results from video sequences are very encouraging.

• Journal of Korea Game Society
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• v.9 no.4
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• pp.97-106
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• 2009

In this paper, a realtime approach to the simulation of virtual paper with an adaptive mesh structure is proposed. The proposed method can be applied to arbitrary triangular mesh structures and efficiently produces wrinkles and creases on the paper surface with stable numerical integration and deformation-based mesh refinement. In order to plausibly represent the crumples on the paper object, we employed an adaptive mesh structure with breakable springs. Because the adaptive structure continuously inserts or removes vertices and edges to or from the mesh structure, the conservation of the mass and the momentum should be carefully taken into account for the plausible simulation of the virtual paper. The proposed method produced plausible animation of paper-like thin shell in realtime environments.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1996.04a
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• pp.141-146
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• 1996

Hand posture and force, which define aspects of the way an object is grasped, are features of robotics manipulation. A means for specifying these grasping "flavors" has been developed that uses an instrumented glove equipped with joint and force sensors. The new grasp specification system is being used at the Pennsylvania State University (Penn State) in a Virtual Reality based Point-and-Direct(VR-PAD) robotics implementation. In the Computer Integrated Manufacturing (CIM) Laboratory at Penn State, hand posture and force data were collected for manipulating bricks and other items that require varying amounts of force at multiple pressure points. The feasibility of measuring desired grasp characteristics was demonstrated for a modified Cyberglove impregnated with FSR (Force Sensitive Resistor) pressure sensors in the fingertips. A joint/force model relating the parameters of finger articulation and pressure to various lifting tasks was validated for the instrumented "wired" glove. Operators using such a modified glove may ultimately be able to configure robot grasping tasks in environments involving hazardous waste remediation, flexible manufacturing, space operations and other flexible robotics applications. In each case, the VR-PAD approach improved the computational and delay problems of real-time multiple-degree-of-freedom force feedback telemanipulation.ck telemanipulation.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.197-204
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• 2020

In this paper, we present a learning platform for robotic grasping in real world, in which actor-critic deep reinforcement learning is employed to directly learn the grasping skill from raw image pixels and rarely observed rewards. This is a challenging task because existing algorithms based on deep reinforcement learning require an extensive number of training data or massive computational cost so that they cannot be affordable in real world settings. To address this problems, the proposed learning platform basically consists of two training phases; a learning phase in simulator and subsequent learning in real world. Here, main processing blocks in the platform are extraction of latent vector based on state representation learning and disentanglement of a raw image, generation of adapted synthetic image using generative adversarial networks, and object detection and arm segmentation for the disentanglement. We demonstrate the effectiveness of this approach in a real environment.

• Journal of Korea Multimedia Society
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• v.7 no.4
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• pp.474-483
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• 2004

In this paper, we present a new Practical implementation of a person verification system using the profile of 3-dimensional(3D) face images based on weighted Hausdorff distance(WHD) used depth information. The approach works on finding the nose tip have protrusion shape on the face using iterative selection method to use a fiducial feint and extract the profile image from vertical 3D data for the nose tip. Hausdorff distance(HD) is one of usually used measures for object matching. This works analyze the conventional HD and WHD, which the weighted factor is depth information. The Ll measure for comparing two feature vectors were used, because it is simple and robust. In the experimental results, the WHD method achieves recognition rate of 94.3% when the ranked threshold is 5.