• Journal of Internet Computing and Services
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• v.7 no.5
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• pp.135-145
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• 2006

This paper presents a novel approach to real-time recognition of 3D environment and objects for intelligent robots. First. we establish the three fundamental principles that humans use for recognizing and interacting with the environment. These principles have led to the development of an integrated approach to real-time 3D recognition and modeling, as follows: 1) It starts with a rapid but approximate characterization of the geometric configuration of workspace by identifying global plane features. 2) It quickly recognizes known objects in environment and replaces them by their models in database based on 3D registration. 3) It models the geometric details on the fly adaptively to the need of the given task based on a multi-resolution octree representation. SIFT features with their 3D position data, referred to here as stereo-sis SIFT, are used extensively, together with point clouds, for fast extraction of global plane features, for fast recognition of objects, for fast registration of scenes, as well as for overcoming incomplete and noisy nature of point clouds. The experimental results show the feasibility of real-time and behavior-oriented 3D modeling of workspace for robotic manipulative tasks.

• Applied Chemistry for Engineering
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• v.21 no.5
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• pp.559-563
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• 2010

The representation of color with natural dyes is closely related with the modern well-being life. This study is focused on the representation of target color of the blue, yellow, and red color system, these color sources were originated from the green tea, gardenia, and black rice respectively. The quantitative numerical value of brightness (L), color coordinates (a, b) were designated for the target color, the optimum color nearest to the target value was extracted with the solvent pH, temperature, and extraction time. The longer the extraction time had more thickening color in case of the gardenia. The L-a-b coordinate of extracted color were analyzed with the color difference meter and compared with the target color. The experimental variables were optimized to extract the color of the smallest ${\Delta}E$ with the target color. As a result, the CIE standard value was proposed and the color was represented.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.2
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• pp.249-260
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• 2009

The georeferencing accuracy of the sensory data acquired by an aerial monitoring system heavily depends on the performance of the GPS/IMU mounted on the system. The employment of a high performance but expensive GPS/IMU unit causes to increase the developmental cost of the overall system. In this study, we simulate the images and GPS/IMU data acquired by an UAV-based aerial monitoring system using an inexpensive integrated GPS/IMU of a MEMS type, and perform the image georeferencing by applying the aerial triangulation to the simulated sensory data without any GCP. The image georeferencing results are then analyzed to assess the accuracy of the estimated exterior orientation parameters of the images and ground points coordinates. The analysis indicates that the RMSEs of the exterior orientation parameters and ground point coordinates is significantly decreased by about 90% in comparison with those resulted from the direct georeferencing without the aerial triangulation. From this study, we confirmed the high possibility to develop a low-cost real-time aerial monitoring system.

• Journal of KIISE:Databases
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• v.31 no.4
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• pp.384-394
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• 2004

Recently, to relieve the performance degradation caused by the bottleneck between CPU and main memory, cache conscious multi-dimensional index structures have been proposed. The ultimate goal of them is to reduce the space for entries so as to widen index trees and minimize the number of cache misses. The existing index structures can be classified into two approaches according to their entry reduction methods. One approach is to compress MBR keys by quantizing coordinate values to the fixed number of bits. The other approach is to store only the sides of minimum bounding regions (MBRs) that are different from their parents partially. In this paper, we propose a new index structure that exploits the properties of the both techniques. Then, we investigate the existing multi-dimensional index structures for main memory database system through experiments under the various work loads. We perform various experiments to show that our approach outperforms others.

• Journal of the Korea Society of Computer and Information
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• v.11 no.3
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• pp.31-39
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• 2006

This paper presents a novel approach to real-time recognition of 3D environment and objects for various applications such as intelligent robots, intelligent vehicles, intelligent buildings,..etc. First, we establish the three fundamental principles that humans use for recognizing and interacting with the environment. These principles have led to the development of an integrated approach to real-time 3D recognition and modeling, as follows: 1) It starts with a rapid but approximate characterization of the geometric configuration of workspace by identifying global plane features. 2) It quickly recognizes known objects in environment and replaces them by their models in database based on 3D registration. 3) It models the geometric details the geometric details on the fly adaptively to the need of the given task based on a multi-resolution octree representation. SIFT features with their 3D position data, referred to here as stereo-sis SIFT, are used extensively, together with point clouds, for fast extraction of global plane features, for fast recognition of objects, for fast registration of scenes, as well as for overcoming incomplete and noisy nature of point clouds.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.12 no.4
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• pp.373-379
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• 2019

In this study, image-based flock monitoring and density evaluation were conducted for broiler chicks welfare. Image data were captured by using a mono camera and region of broiler chicks in the image was detected using converting to HSV color model, thresholding, and clustering with filtering. The results show that region detection was performed with 5% relative error and 0.81 IoU on average. The detected region was corrected to the actual region by projection into ground using coordinate transformation between camera and real-world. The flock density of broiler chicks was estimated using the corrected actual region, and it was observed with an average of 80%. The developed algorithm can be applied to the broiler chicks house through enhancing accuracy of region detection and low-cost system configuration.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2016.06a
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• pp.332-334
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• 2016

본 논문에서는 중계 차량 내 콘트롤러 사용빈도 분석을 위한 방법에 대해 논한다. 중계 차량 내 장비는 대부분 외산에 의존하고 고가의 장비를 사용하고 있다. 따라서 투자비용이 높고 국산화 기술에 대한 연구가 미미하다. 또한 사용하는 장비의 기능은 한정적인 것에 반해 불필요한 확장 기능이 너무 많이 탑재되어 있어 사용자의 활용 빈도가 낮고, 사용하기가 어렵다. 이에 본 논문에서는 인간공학적 콘트롤러 개발을 위해 이동식 중계 차량 내 콘트롤러 사용빈도를 영상 기반으로 자동 분석하기 위한 방법에 대해 제안한다. 사용빈도 분석을 위해 사용자의 손을 추적하고, 손으로 추정되는 좌표 값을 파악하여 계속 누적한다. 일정시간 동안 누적한 좌표값을 분석하여 콘트롤러 사용 빈도에 대해 파악하고자 한다. 이는 국내 중계방송 환경에 적합한 콘트롤러 장비를 개발하는 데 도움을 줄 수 있으며 국산 기술을 확보할 수 있는데 의의를 가진다.

• Journal of Korea Game Society
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• v.10 no.5
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• pp.103-113
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• 2010

In this paper, we present a practical method for generating facial animation by using an optical motion capture system. In our setup, we assumed a situation of capturing the body motion and the facial expression simultaneously, which degrades the quality of the captured marker data. To overcome this problem, we provide an integrated framework based on the local coordinate system of each marker for labeling the marker data, hole-filling and removing noises. We justify the method by applying it to generate a short animated film.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2003.05a
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• pp.255-258
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• 2003

Recently, Digital Watermarking is used to authenticate data and to determine whether the data are distorted or not in medical images which is digitalized. The Fourier Mellin method using the Fourier Transform and the Log-Polar coordinate transform gets an invariant feature for RST distortion in images. But there are several problems in the real materialization. Interpolation of the image value should be considered according to the pixel position and so a watermark loss, original image distortion, numerical approximation is happened. Therefore there should be solved to realization of the Fourier Mellin method. Using the Look up table, there reduce the data loss caused by the conversion between Rectangular and Polar coordinate. After diagnose, medical images are transformed the Polar coordinate and taken the Discrete Fourier transform in the center of ROI region. Maintaining the symmetry in Fourier magnitude coefficient, the gaussian distributed random vectors and binary images are embedded in medical images.

• Journal of Internet of Things and Convergence
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• v.4 no.2
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• pp.7-11
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• 2018

In this paper, kinematic based walking pattern generation of biped walking robot is reviewed. Biped walking robot should be consisted of 6 Degree of Freedom(DOF) for each leg to walk properly in 3 dimensional circumstance. In this paper, simple structure of biped robot is depicted for walking pattern firstly. After fixing path of ankle of the robot, angle joints are coming from kinematic equatioins. Coordination of joints of a robot was set for dynamic analysis also. So walking pattern of a robot will be designed using dynamic equations of coordination of joint angles. Finally, setting of ankle of robot and pattern generation are key procedures of the robot walking.