• Journal of IKEEE
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• v.22 no.4
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• pp.970-977
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• 2018

The autonomous vehicle is based on an advanced driver assistance system (ADAS) consisting of a sensor that collects information about the surrounding environment and a control module that determines the measured data. As interest in autonomous navigation technology grows recently, an easy development framework for ADAS beginners and learners is needed. However, existing development and verification methods are based on high performance vehicle simulator, which has drawbacks such as complexity of verification method and high cost. Also, most of the schemes do not provide the sensing data required by the ADAS directly from the simulator, which limits verification reliability. In this paper, we present an interactive ADAS development and verification framework using a 3D vehicle simulator that overcomes the problems of existing methods. ADAS with image recognition based artificial intelligence was implemented as a virtual sensor in a 3D car simulator, and autonomous driving verification was performed in real scenarios.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.2
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• pp.69-79
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• 1994

The conventional machine vision system which has uniform rectangular grid requires tremendous amount of computation for processing and analysing an image especially in 2-D image transfermations such as scaling, rotation and 3-D reconvery problem typical in robot application environment. In this study, the imaging system with nonuiformly distributed image sensors simulating human visual system, referred to as Ploar Exponential Grid(PEG), is compared with the existing conventional uniform rectangular grid system in terms of image resolution and computational complexity. By mimicking the geometric structure of the PEG sensor cell, we obtained PEG-like images using computer simulation. With the images obtained from the simulation, image resolution of the two systems are compared and some basic image processing tasks such as image scaling and rotation are implemented based on the PEG sensor system to examine its performance. Furthermore Fourier transform of PEG image is described and implemented in image analysis point of view. Also, the range and heading-angle measurement errors usually encountered in 3-D coordinates recovery with stereo camera system are claculated based on the PEG sensor system and compared with those obtained from the uniform rectangular grid system. In fact, the PEC imaging system not only reduces the computational requirements but also has scale and rotational invariance property in Fourier spectrum. Hence the PEG system has more suitable image coordinate system for image scaling, rotation, and image recognition problem. The range and heading-angle measurement errors with PEG system are less than those of uniform rectangular rectangular grid system in practical measurement range.

• Journal of the Korean Institute of Gas
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• v.21 no.5
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• pp.89-94
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• 2017

The VR(Virtuality Reality) technology provides very close experience to reality by stimulating humans' external recognition with artificial technologies. In order to overcome the limitation of real-environment training, VR is being applied in industry field as a key technology to prevent safety accident and its control procedure training. However, it is difficult to build VR-based training system because 3D modeling and software coding are necessary for materialization of VR environment demands of many development resource. In this research referring to VR based training content implementation, a method to utilizing VRDC(VR-based Dynamic visualization Component) is suggested and by applying it to plant safety training system, it was confirmed its practicality.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.9
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• pp.794-806
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• 2017

It is essential to protect the national space assets and space environment safely as a space development country from the continuously increasing space debris. And Active Debris Removal(ADR) is the most active way to solve this problem. In this paper, we studied the Artificial Neural Network(ANN) for a stable recognition model of vision-based space debris tracking system. We obtained the simulated image of the space environment by the KARICAT which is the ground-based space debris clearing satellite testbed developed by the Korea Aerospace Research Institute, and created the vector which encodes structure and color-based features of each object after image segmentation by depth discontinuity. The Feature Vector consists of 3D surface area, principle vector of point cloud, 2D shape and color information. We designed artificial neural network model based on the separated Feature Vector. In order to improve the performance of the artificial neural network, the model is divided according to the categories of the input feature vectors, and the ensemble technique is applied to each model. As a result, we confirmed the performance improvement of recognition model by ensemble technique.

• Convergence Security Journal
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• v.23 no.2
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• pp.67-74
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• 2023

An elevator is a mechanical and electronic device composed of about 20,000 various parts, and is systematically operated with a close relationship with each other. By intuitively understanding this complex elevator structure and efficiently recognizing the operating model, it will be possible to increase the understanding of the elevator system and the efficiency of maintenance. The existing elevator management system is a process of collecting and understanding information based on data generated from elevators, and has a structure that lacks efficiency in expressing and managing real-world information during elevator maintenance. Therefore, this paper proposes a simulator framework that can operate efficiently based on the actual elevator model. By constructing the recognition of specific objects through a 3D-based service model and visualizing the operation process, it will be possible to enhance the understanding of the structure and operation required for elevator operation. To this end, the core components of the elevator system are identified, the relationship between them and the operating method are visualized, and a simulator is implemented. Based on this, it will be possible to provide a realistic information management and operating environment in virtual space and real platform.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.48 no.6
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• pp.88-95
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• 2011

An embedded mobile device mostly has lower computation power than a general purpose computer because of its relatively lower system specifications. Consequently, conventional face tracking and face detection methods, requiring complex algorithms for higher recognition rates, are unsuitable in a mobile environment aiming for real time detection. On the other hand, by applying a real-time tracking and detecting algorithm, we would be able to provide a two-way interactive multimedia service between an user and a mobile device thus providing a far better quality of service in comparison to a one-way service. Therefore it is necessary to develop a real-time face and eye tracking technique optimized to a mobile environment. For this reason, in this paper, we proposes a method of tracking horizontal face position of a user on a T-DMB device for enhancing the quality of 3D DMB content. The proposed method uses the orientation of edges to estimate the left and right boundary of the face, and by the color edge information, the horizontal position and size of face is determined finally to decide the horizontal face. The sobel gradient vector is projected vertically and candidates of face boundaries are selected, and we proposed a smoothing method and a peak-detection method for the precise decision. Because general face detection algorithms use multi-scale feature vectors, the detection time is too long on a mobile environment. However the proposed algorithm which uses the single-scale detection method can detect the face more faster than conventional face detection methods.

• The Journal of the Acoustical Society of Korea
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• v.38 no.1
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• pp.39-46
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• 2019

In this paper, combining features is proposed as a way to enhance the classification accuracy of sounds under noisy environments using the CNN (Convolutional Neural Network) structure. A robust log Mel-filter bank using Wiener filter and PNCCs (Power Normalized Cepstral Coefficients) are extracted to form a 2-dimensional feature that is used as input to the CNN structure. An ebird database is used to classify 43 types of bird species in their natural environment. To evaluate the performance of the combined features under noisy environments, the database is augmented with 3 types of noise under 4 different SNRs (Signal to Noise Ratios) (20 dB, 10 dB, 5 dB, 0 dB). The combined feature is compared to the log Mel-filter bank with and without incorporating the Wiener filter and the PNCCs. The combined feature is shown to outperform the other mentioned features under clean environments with a 1.34 % increase in overall average accuracy. Additionally, the accuracy under noisy environments at the 4 SNR levels is increased by 1.06 % and 0.65 % for shop and schoolyard noise backgrounds, respectively.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.30 no.6
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• pp.487-497
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• 2019

It is very difficult to detect ballistic missiles because of small cross-sections of the radar and the high maneuverability of the missiles. In addition, it is very difficult to recognize and intercept warheads because of the existence of debris and decoy with similar motion parameters in each flight phase. Therefore, feature vectors based on the maneuver, the micro-motion according to flight phase are needed, and the two types of features must be fused for the efficient recognition of ballistic warhead regardless of the flight phase. In this paper, we introduce feature vectors appropriate for each flight phase and an effective method to fuse them at the feature vector-level and classifier-level. According to the classification simulations using the radar signals predicted by the CAD models, the closer the warhead was to the final destination, the more improved was the classification performance. This was achieved by the classifier-level fusion, regardless of the flight phase in a noisy environment.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.9
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• pp.1987-1992
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• 2010

This paper deals with the method of using the three dimensional characteristic information to classify the front environment in travelling by using the images captured by a CCD camera equipped on a mobile robot. The images detected by the three dimensional characteristic information is divided into the part of obstacles, the part of corners, and th part of doorways in a corridor. In designing the travelling path of a mobile robot, these three situations are used as an important information in the obstacle avoidance and optimal path computing. So, this paper proposes the method of deciding the travelling direction of a mobile robot with using input images based upon the suggested algorithm by preprocessing, and verified the validity of the image information which are detected as obstacles by the analysis through neural network.

• Journal of Korea Game Society
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• v.5 no.3
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• pp.3-10
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• 2005

We present the computer table tennis game using player's swing motion. We need to transform a real world coordinate into a virtual world coordinate in order to hit the virtual ball. We can not get a correct 3-dimension position of racket in environment that using one camera or simple image processing. Therefore we use Augmented Reality (AR) concept to develop the game. This paper shows the AR table tennis game using gesture and method to develop the 3D interaction game that only using one camera without any motion detection device or stereo cameras. Also, we use a scan line method to recognize gesture for speedy processing. The game is developed using ARtoolkit and DirectX that is popular tool of SDK for game development.