• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.125-127
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• 2004

High-resolution satellite images offer abundance information of the earth surface for remote sensing applications. The information includes geometry, texture and attribute characteristic. The pixel-based image classification can't satisfy high-resolution satellite image's classification precision and produce large data redundancy. Object-oriented information extraction not only depends on spectrum character, but also use geometry and structure information. It can provide an accessible and truly revolutionary approach. Using Beijing Spot 5 high-resolution image and object-oriented classification with the eCognition software, we accomplish the cultures' precise classification. The test areas have five culture types including water, vegetation, road, building and bare lands. We use nearest neighbor classification and appraise the overall classification accuracy. The average of five species reaches 0.90. All of maximum is 1. The standard deviation is less than 0.11. The overall accuracy can reach $95.47\%.$ This method offers a new technology for high-resolution satellite images' available applications in remote sensing culture classification.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1145-1149
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• 1990

This paper proposes a numerical method for redundant manipulators using predetermined optimal resolution. In order to obtain optimal joint trajectories, it is desirable to formulate redundancy resolution as an optimization problem having an integral cost criterion. We predetermine the trajectories of redundant joints in terms of the Nth partial sum of the Fourier series, which lead to the solution in the desirable homotopy class. Then optimal coefficients of the Fourier series, which yield the optimal solution within the predetermined class, are searched by the Powell's method. The proposed method is applied to a 3-link planar manipulator for cyclic tasks in Cartesian space. As the results, we can obtain the optimal solution in the desirable homotopy class without topological liftings of the solution. To show the validity of the proposed method, we analyze both optimal and extremal solutions by the Fast Fourier Transform (FFT) and discuss joint trajectories on the phase plane.

• Proceedings of the IEEK Conference
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• 2000.06d
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• pp.31-34
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• 2000

In this paper, we proposed multispectral image compression method using CIP (classified inter-channel prediction) and SVQ (selective vector quantization) in wavelet domain. First, multispectral image is wavelet transformed and classified into one of three classes considering reflection characteristics of the subband with the lowest resolution. Then, for a reference channel which has the highest correlation with other channels, the variable VQ is performed in the classified intra-channel to remove spatial redundancy. For other channels, the CIP is performed to remove spectral redundancy. Finally, the prediction error is reduced by performing SVQ. Experiments are carried out on a multispectral image. The results show that the proposed method reduce the bit rate at higher reconstructed image quality and improve the compression efficiency compared to conventional method.

• Proceedings of the IEEK Conference
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• 2001.09a
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• pp.121-124
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• 2001

For efficient transmission of 3DTV video signals, it is necessary to eliminate the inherent redundancy between the stereo image pairs. Though disparity estimation provides a powerful tool for eliminating the redundancy, it is very time consuming. This paper presents a novel disparity estimation scheme based on the human visual property. The disparity vectors of image blocks spatially adjacent to the current block are used as initial guesses fur the disparity vector of the current block. In addition, mixed-resolution coding is applied to reduce the computational complexity of disparity estimation. Through computer simulations on a stereoscopic sequence we show that the proposed method gives rise .to visually pleasing results with much reduced computational complexity.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.24 no.8B
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• pp.1540-1548
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• 1999

We propose a multi-resolution motion estimation algorithm using adaptive search region. It is constructed in wavelet domain that a binary plane which represents the potential motion areas(PMA's) based on the temporal redundancy between video frames, and motion estimation is processed in the PMA's. We reduce the PMA's gradually as the resolution level is higher, considering the distribution of the energy in subband layers and the complexity. As compared with EMRME(enhanced multi-resolution motion estimation) method[7], simulation results show that computational amount and bit rate reduced to about 33 ~46 % and 10 ~l8% respectively in active image with similar PSNR, and computational amount reduced to about 37 ~65 % in small notion image with similar PSNR and bit rate.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.12
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• pp.6017-6037
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• 2017

In a multi-resolution image encoding system, the image is encoded into a single file as a layer of bit streams, and then it is transmitted layer by layer progressively to reduce the transmission time across a low bandwidth connection. This encoding scheme is also suitable for multiple decoders, each with different capabilities ranging from a handheld device to a PC. In our previous work, we proposed an edge adaptive hierarchical interpolation algorithm for multi-resolution image coding system. In this paper, we enhanced its compression efficiency by adding three major components. First, its prediction accuracy is improved using context adaptive error modeling as a feedback. Second, the conditional probability of prediction errors is sharpened by removing the sign redundancy among local prediction errors by applying sign flipping. Third, the conditional probability is sharpened further by reducing the number of distinct error symbols using error remapping function. Experimental results on benchmark data sets reveal that the enhanced algorithm achieves a better compression bit rate than our previous algorithm and other algorithms. It is shown that compression bit rate is much better for images that are rich in directional edges and textures. The enhanced algorithm also shows better rate-distortion performance and visual quality at the intermediate stages of progressive image transmission.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.908-913
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• 1993

The inverse kinematic solutions for redundant manipulators using the optimality augmented resolution schemes have been used without investigating the characteristics of the optimal solutions. The questions with this kind of resolution methods are answered in this paper, that is (i) the characteristics of solutions, (ii) of algorithmic singularities, (iii) their dimensionality, and (iv) the invariance of the characteristics during resolutions. 3-DOF planar redundant robot is analyzed when the inverse kinematic method is applied with the manipulability as an example.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.195-197
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• 2005

In the scalable extension of H.264/AVC, spatial scalability is provided residual information as encoding layered spatial resolution between layers. We use the inter-layer prediction to remove this redundancy. In the inter-layer prediction, as the prediction we can use the signal that is the upsampled signal of the lower resolution layer. In this case, coding efficiency can be different from optimal prediction by kinds of interpolation filter. This paper indicates technique to choose the interpolation filter and to enhance coding efficiency for finding more correct prediction in intra macroblock.

• Journal of the Institute of Convergence Signal Processing
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• v.16 no.4
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• pp.168-174
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• 2015

The ultimate purpose of a walking robot is to move to a designated spot and to perform a necessary manipulation. To perform various manipulations for a walking robot, it should have some kind of an extra manipulator. However, if the manipulation task for the robot is simple enough, the robot can perform the task by using its legs. Among various kinds of walking robots, a hexapod walking robot has relatively many legs, so it has the advantage of stability and walking speed. So, a hexapod walking robot can perform simple manipulation task by using its one or two legs while maintaining stability by using the rest of legs. In this paper, we deal with a simple manipulation task of holding a ball. We formulate the task as a redundancy resolution problem and propose a method for obtaining an optimal solution.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.869-877
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• 2004

This paper deals with motion planning algorithm for kinematically redundant manipulators that are not fixed to the ground. Differently from usual redundant manipulators fixed to the ground, the stability issue should be taken into account to prevent the robot from falling down. The typical ZMP equation, which is employed in human walking, will be employed to evaluate the stability. This work proposes a feed forward ZMP planning algorithm. The algorithm embeds the 'ZMP equations' indirectly into the kinematics of the kinematic model of a manipulator via a ZMP stability index The kinematic self motion of the redundant manipulator drives the system in such a way to keep or plan the ZHP at the desired position of the footprint. A sequential redundancy resolution algorithm exploiting the remaining kinematic redundancy is also proposed to enhance the performances of joint limit index and manipulability. In addition, the case exerted by external forces is taken into account. Through simulation for a 5 DOF redundant robot model, feasibility of the proposed algorithms is verified. Lastly, usual applications of the proposed kinematic model are discussed.