• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.367-371
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• 2015

In this paper, a novel localization method for a monocular camera is proposed by using a feature-based probabilistic map. The localization of a camera is generally estimated from 3D-to-2D correspondences between a 3D map and an image plane through the PnP algorithm. In the computer vision communities, an accurate 3D map is generated by optimization using a large number of image dataset for camera pose estimation. In robotics communities, a camera pose is estimated by probabilistic approaches with lack of feature. Thus, it needs an extra system because the camera system cannot estimate a full state of the robot pose. Therefore, we propose an accurate localization method for a monocular camera using a probabilistic approach in the case of an insufficient image dataset without any extra system. In our system, features from a probabilistic map are projected into an image plane using linear approximation. By minimizing Mahalanobis distance between the projected features from the probabilistic map and extracted features from a query image, the accurate pose of the monocular camera is estimated from an initial pose obtained by the PnP algorithm. The proposed algorithm is demonstrated through simulations in a 3D space.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.203-210
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• 2009

The problem of outdoor localization can be practically solved by GPS. However, GPS is not perfect and some areas of outdoor navigation should consider other solutions. This research deals with outdoor localization using an elevation map without GPS. This paper proposes a novel feature, elevation moment of inertia (EMOI), which represents the distribution of elevation as a function of distance from a robot in the elevation map. Each cell of an elevation map has its own EMOI, and outdoor localization can be performed by matching EMOIs obtained from the robot and the pre-given elevation map. The experiments and simulations show that the proposed EMOI can be usefully exploited for outdoor localization with an elevation map and this feature can be easily applied to other probabilistic approaches such as Markov localization method.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.40 no.6
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• pp.95-105
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• 2003

A novel reference point detection method is proposed by exploiting tile gradient probabilistic model that captures the curvature information of fingerprint. The detection of reference point is accomplished through searching and locating the points of occurrence of the most evenly distributed gradient in a probabilistic sense. The uniformly distributed gradient texture represents either the core point itself or those of similar points that can be used to establish the rigid reference from which to map the features for recognition. Key benefits are reductions in preprocessing and consistency of locating the same points as the reference points even when processing arch type fingerprints. Moreover, the new feature extraction method is proposed by improving the existing feature extraction using filterbank method. Experimental results indicate the superiority of tile proposed scheme in terms of computational time in feature extraction and verification rate in various noisy environments. In particular, the proposed gradient probabilistic model achieved 49% improvement under ambient noise, 39.2% under brightness noise and 15.7% under a salt and pepper noise environment, respectively, in FAR for the arch type fingerprints. Moreover, a reduction of 0.07sec in reference point detection time of the GPM is shown possible compared to using the leading the poincare index method and a reduction of 0.06sec in code extraction time of the new filterbank mettled is shown possible compared to using the leading the existing filterbank method.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.18 no.3
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• pp.755-778
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• 2024

In recent years, the number of devices being connected to the internet has grown enormously, as has the intrusive behavior in the network. Thus, it is important for intrusion detection systems to report all intrusive behavior. Using deep learning and machine learning algorithms, intrusion detection systems are able to perform well in identifying attacks. However, the concern with these deep learning algorithms is their inability to identify a suitable network based on traffic volume, which requires manual changing of hyperparameters, which consumes a lot of time and effort. So, to address this, this paper offers a solution using the extended compact genetic algorithm for the automatic tuning of the hyperparameters. The novelty in this work comes in the form of modeling the problem of identifying attacks as a multi-objective optimization problem and the usage of linkage learning for solving the optimization problem. The solution is obtained using the feature map-based Convolutional Neural Network that gets encoded into genes, and using the extended compact genetic algorithm the model is optimized for the detection accuracy and latency. The CIC-IDS-2017 and 2018 datasets are used to verify the hypothesis, and the most recent analysis yielded a substantial F1 score of 99.23%. Response time, CPU, and memory consumption evaluations are done to demonstrate the suitability of this model in a fog environment.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.4
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• pp.161-166
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• 2018

In this paper, we propose a method for the random selection of pooling operations for the regularization and reduction of cross validation in convolutional neural networks. The pooling operation in convolutional neural networks is used to reduce the size of the feature map and for its shift invariant properties. In the existing pooling method, one pooling operation is applied in each pooling layer. Because this method fixes the convolution network, the network suffers from overfitting, which means that it excessively fits the models to the training samples. In addition, to find the best combination of pooling operations to maximize the performance, cross validation must be performed. To solve these problems, we introduce the probability concept into the pooling layers. The proposed method does not select one pooling operation in each pooling layer. Instead, we randomly select one pooling operation among multiple pooling operations in each pooling region during training, and for testing purposes, we use probabilistic weighting to produce the expected output. The proposed method can be seen as a technique in which many networks are approximately averaged using a different pooling operation in each pooling region. Therefore, this method avoids the overfitting problem, as well as reducing the amount of cross validation. The experimental results show that the proposed method can achieve better generalization performance and reduce the need for cross validation.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.4
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• pp.381-390
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• 2010

This paper describes a procedure of the map-based localization for mobile robots by using a sensor fusion technique in structured environments. A combination of various sensors with different characteristics and limited sensibility has advantages in view of complementariness and cooperation to obtain better information on the environment. In this paper, for robust self-localization of a mobile robot with a monocular camera and a laser structured light sensor, environment information acquired from two sensors is combined and fused by a Bayesian sensor fusion technique based on the probabilistic reliability function of each sensor predefined through experiments. For the self-localization using the monocular vision, the robot utilizes image features consisting of vertical edge lines from input camera images, and they are used as natural landmark points in self-localization process. However, in case of using the laser structured light sensor, it utilizes geometrical features composed of corners and planes as natural landmark shapes during this process, which are extracted from range data at a constant height from the navigation floor. Although only each feature group of them is sometimes useful to localize mobile robots, all features from the two sensors are simultaneously used and fused in term of information for reliable localization under various environment conditions. To verify the advantage of using multi-sensor fusion, a series of experiments are performed, and experimental results are discussed in detail.