• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.503-506
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• 1996

An integrated Robot control system for SCARA robot is developed. The system consists of an off-line programming(OLP), software and a robot controller using four digital signal processor(TMS32OC50). The OLP has functions of teaching task, dynamic simulator, three dimensional animation, and trajectory planning. To develop robust dynamic control algorithm, a new sliding mode control algorithm for the robot is proposed. The trajectory tracking performance of these algorithm is evaluated by implementing to SCARA robot(SM5 type) using DSP controller which has conventional PI-FF control algorithm. To make SCARA robot operate according to off-line teaching, an interface between OLP and robot controller in the integrated system is designed. To demonstrate performance of the integrated system, the proposed control algorithm is applied to the system.

• Journal of the Korea Computer Industry Society
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• v.10 no.5
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• pp.227-234
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• 2009

The Paper introduces a new technique for block matching motion estimation. since the temporal correlation of a animation sequence between the motion vector of current block and the motion vector of previous block. In this paper, we propose the scene change detection algorithm for block matching using the temporal correlation of the animation sequence and the center-biased property of motion vectors. The proposed algorithm determines the location of a better starting point for the search of an exact motion vector using the point of the smallest SAD(sum of absolute difference) value by the predicted motion vector from the same block of the previous frame and the predictor candidate point on each search region. Simulation results show that the PSNR values are improved as high as 9~32% in terms of average number of search point per motion vector estimation and improved about 0.06~0.21dB on an average except the FS(full search) algorithm.

• Proceedings of the Korean Information Science Society Conference
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• 2012.06c
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• pp.406-407
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• 2012

Texture transfer is a NPR technique for expressing various styles according to source (reference) image. By late 2000s, there are many texture transfer researches. But video base researchers are not active. Moreover, they didn't use important feature like directional information which need to express detail characteristics of target. So, we propose a new method to generate texture transfer animation (using video) with directional effect for maintaining temporal coherence and controlling coherence direction of texture. For maintaining temporal coherence, we use optical flow and confidence map to adapt for occlusion/disocclusion boundaries. And we control direction of texture for taking structure of input. For expressing various texture effects according to different regions, we calculate gradient based on directional weight. With these techniques, our algorithm can make animation result that maintain temporal coherence and express directional texture effect. It is reflect the characteristics of source and target image well. And our result can express various texture directions automatically.

• Journal of the Korea Computer Graphics Society
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• v.21 no.5
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• pp.11-19
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• 2015

Our research introduces a novel system for creating 3D vehicle animation. Our system is for intuitively authoring vehicle accident scenes according to videos or based on user-drawn trajectories. Our system has been implemented by combining three existing ideas. The first part is for obtaining 3D trajectory of a vehicle from black-box videos. The second part is a tracking algorithm that controls a vehicle to follow a given trajectory with small errors. The last part optimizes the vehicle control parameters so that the error between the input trajectory and simulated vehicle trajectory is minimized. We also simulate the deformation of the car due to an impact to achieve believable results in real-time.

• The KIPS Transactions:PartA
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• v.11A no.2
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• pp.189-194
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• 2004

This paper describes method to distribute much high-dimensional facial expression motion data to 2 dimensional space, and method to create facial expression animation by select expressions that want by realtime as animator navigates this space. In this paper composed expression space using about 2400 facial expression frames. The creation of facial space is ended by decision of shortest distance between any two expressions. The expression space as manifold space expresses approximately distance between two points as following. After define expression state vector that express state of each expression using distance matrix which represent distance between any markers, if two expression adjoin, regard this as approximate about shortest distance between two expressions. So, if adjacency distance is decided between adjacency expressions, connect these adjacency distances and yield shortest distance between any two expression states, use Floyd algorithm for this. To materialize expression space that is high-dimensional space, project on 2 dimensions using Sammon's Mapping. Facial animation create by realtime with animators navigating 2 dimensional space using user interface.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1416-1418
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• 2004

This paper proposes an image processing algorithm for detecting obstacles on road-lane using DLI(disparity of lane-related information) that is generated by stereo images acquired from dual cameras mounted on a moving vehicle. The DLI is a disparity that is acquired using single lane information from road lane detection. For the purpose to reduce processing time, we use small blocks obtained by edge-histogram based blocking logic. This algorithm detects moving objects such as preceding vehicles and obstacles. The proposed algorithm has been implemented in a personal computer with the road image data of a typical highway. We successfully performed experiments under a wide variety of road conditions without changing parameter values or adding human intervention. Experimental results also showed that the proposed DLI is quite successful.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2005.04a
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• pp.217-220
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• 2005

The RPO algorithm is a recently developed tool in the area of reinforcement Loaming, And it has been shown In be very successful in several application problems. In this paper, we consider a robot-control problem utilizing a modified RPO algorithm in which its critic network is adapted via RLS(Recursive Least Square) algorithm. We also developed a MATLAB-based animation program, by which the effectiveness of the training algorithms were observed.

• Journal of Broadcast Engineering
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• v.26 no.3
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• pp.269-282
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• 2021

As the distribution of 3D content such as augmented reality and virtual reality increases, the importance of real-time computer animation technology is increasing. However, the computer animation process consists mostly of manual or marker-attaching motion capture, which requires a very long time for experienced professionals to obtain realistic images. To solve these problems, animation production systems and algorithms based on deep learning model and sensors have recently emerged. Thus, in this paper, we study four methods of implementing natural human movement in deep learning model and kinect camera-based animation production systems. Each method is chosen considering its environmental characteristics and accuracy. The first method uses a Kinect camera. The second method uses a Kinect camera and a calibration algorithm. The third method uses deep learning model. The fourth method uses deep learning model and kinect. Experiments with the proposed method showed that the fourth method of deep learning model and using the Kinect simultaneously showed the best results compared to other methods.

• Journal of Korea Multimedia Society
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• v.8 no.4
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• pp.554-568
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• 2005

We suggest the dynamic stroke generation algorithm that provides frame-to-frame coherence in 3D non-photorealistic animations. We use 3D particle system to eliminate the visual popping effect in the animated scene. Since we have located particles on the 3D object's surface, the coherence is maintained when the object or the camera is moving in the scene. Also, this algorithm maintains the coherence when camera is zooming in/out. However, the brush strokes on the surface also zoom in/out. This result(too large or too small brush strokes) can not represent hand-crafted brush strokes. To remove this problem, we suggest stroke generation algorithm that dynamically maintains the number of brush stroke and its size during camera zoom in/out.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.8
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• pp.3670-3676
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• 2011

A cell animation is represented by one background cell, and there is much difference of images when its shot is changed. Also, it does not have a lot of colors since people themselves draw it. In order to effectively detect shot transitions of cell animations while fully considering their intrinsic characteristics, in this paper, we propose a animation shot boundary detection algorithm that utilizes color and block-based histograms step by step. The suggested algorithm first converts RGB color space into HSI color one, and coarsely decides if adjacent frames contains a shot transition by performing color difference operation between two images. If they are considered to have a shot transition candidate, we calculate color histograms for 9 sub-regions of the adjacent images and apply weights to them. Finally, we determine whether there is a real shot transition by analyzing the weighted sum of histogram values. In experiments, we show that our method is superior to others.