• 전기학회논문지P
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• 제55권2호
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• pp.103-109
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• 2006

In this paper, the detection scheme of the spatial coordinates based on stereo camera for a intelligent path planning of an automatic mobile robot is proposed. In the proposed system, face area of a moving person is detected from a left image among the stereo image pairs by using the YCbCr color model and its center coordinates are computed by using the centroid method and then using these data, the stereo camera embedded on the mobile robot can be controlled for tracking the moving target in real-time. Moreover, using the disparity mad obtained from the left and right images captured by the tracking-controlled stereo camera system and the perspective transformation between a 3-D scene. and an image plane, depth information can be detected. Finally, based-on the analysis of these calculated coordinates, a mobile robot system is derived as a intelligent path planning and a estimation.

• 한국측량학회지
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• 제29권6호
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• pp.667-675
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• 2011

본 논문은 이종센서자료인 고해상도 KOMPSAT-2 영상과 TerraSAR-X 영상 간 자동기하보정을 수행하는 것을 목적으로 한다. 이를 위해, 두 영상간의 x, y 방향의 초기 변위량을 MI(Mutual Information) 기법을 통해 계산한 후, 계산된 위치만큼 TerraSAR-X 영상을 이동시켜서 두 영상 간 초기 위치 차이를 최소화하였다. 초기 위치 차이가 최소화된 두 영상에서 선형정보를 추출하여 이들 간의 유사도를 판단, 매칭쌍을 추출하고자 하였다. 특히, 영상 전반에 걸쳐 고르게 분포된 매칭쌍을 추출하기 위하여, 영상 전역에 걸쳐서 동일한 크기의 격자망을 구성하여, 각 격자망에서 하나의 매칭쌍만을 추출하도록 하였다. 이렇게 추출된 매칭쌍을 이용하여 선형(rigid)과 비선형(nonrigid)의 변환식이 결합된 모델을 통해 기하보정 정확도를 높이고자 하였고, 실험 결과 모든 대상지역에서 5m 이내의 RMSE 값을 도출하였다.

• Journal of Biosystems Engineering
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• 제26권6호
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• pp.545-552
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• 2001

Nondestructive methods such as ultrasonic and magnetic resonance imaging systems have many advantages but still much expensive. And they do not give exact color information and may miss some details. If it is allowed to destruct a biological object to obtain interior and exterior informations, 3D image visualization model from a series of sliced sectional images gives more useful information with relatively low cost. In this paper, a PC based automatic 3D visualization system is presented. The system is composed of three modules. The first module is the handling and image acquisition module. The handling module feeds and slices a cylindrical shape paraffin, which holds a biological object inside the paraffin. And the paraffin is kept being solid by cooling while being handled. The image acquisition modulo captures the sectional image of the object merged into the paraffin consecutively. The second one is the system control and interface module, which controls actuators for feeding, slicing, and image capturing. And the last one is the image processing and visualization module, which processes a series of acquired sectional images and generates a 3D volumetric model. To verify the condition for the uniform slicing, normal directional forces of the cutting edge according to the various cutting angles were measured using a strain gauge and the amount of the sliced chips were weighed and analyzed. Once the 3D model was constructed on the computer, user could manipulate it with various transformation methods such as translation, rotation, and scaling including arbitrary sectional view.

• 센서학회지
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• 제14권4호
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• pp.278-285
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• 2005

This paper describes techniques of camera calibration and artificial landmarks detection for the automatic charging of a mobile robot, equipped with a fish-eye camera in the direction of its operation for movement or surveillance purposes. For its identification from the surrounding environments, three landmarks employed with infrared LEDs, were installed at the charging station. When the robot reaches a certain point, a signal is sent to the LEDs for activation, which allows the robot to easily detect the landmarks using its vision camera. To eliminate the effects of the outside light interference during the process, a difference image was generated by comparing the two images taken when the LEDs are on and off respectively. A fish-eye lens was used for the vision camera of the robot but the wide-angle lens resulted in a significant image distortion. The radial lens distortion was corrected after linear perspective projection transformation based on the pin-hole model. In the experiment, the designed system showed sensing accuracy of ${\pm}10$ mm in position and ${\pm}1^{\circ}$ in orientation at the distance of 550 mm.

• 대한산업공학회지
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• 제14권2호
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• pp.71-80
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• 1988

The primary purpose of this study is to develop an automation tool capable of converting the specification of structured analysis into that of structured design. Structured Analysis and Structured Design Language (SASDL) is a computer-aided description language based on ERA model and particulariged by ISLDM/SEM. The automation tool utilizes the specifications of data flow diagram described in SASDL to produce their corresponding SASDL specification of structure chart. The main idea behind the automatic conversion process is to categorize the bubbles in data flow diagram and to determine the positions of the bubbles in structure chart according to their categories and the relative locations in data flow diagram. To make the problem into manageable size, the whole system is broken down into separate parts called activity units. A great deal of manual jobs, such as checking processes leveling, checking data derivation of processes, deriving structure chart from data flow diagram, checking any inconsistency between data flow diagram and structure chart and so forth, can be automated by using SASDL and conversion tool. The specification of structure chart derived by conversion tool may be used in an initial step of design to be refined by SASDL users.

• Journal of Information Processing Systems
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• 제19권5호
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• pp.614-630
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• 2023

Dead trees significantly impact forest production and the ecological environment and pose constraints to the sustainable development of forests. A lightweight YOLOv4 dead tree detection algorithm based on unmanned aerial vehicle images is proposed to address current limitations in dead tree detection that rely mainly on inefficient, unsafe and easy-to-miss manual inspections. An improved logarithmic transformation method was developed in data pre-processing to display tree features in the shadows. For the model structure, the original CSPDarkNet-53 backbone feature extraction network was replaced by MobileNetV3. Some of the standard convolutional blocks in the original extraction network were replaced by depthwise separable convolution blocks. The new ReLU6 activation function replaced the original LeakyReLU activation function to make the network more robust for low-precision computations. The K-means++ clustering method was also integrated to generate anchor boxes that are more suitable for the dataset. The experimental results show that the improved algorithm achieved an accuracy of 97.33%, higher than other methods. The detection speed of the proposed approach is higher than that of YOLOv4, improving the efficiency and accuracy of the detection process.

• 인지과학
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• 제14권1호
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• pp.10-10
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• 2003

본 논문은 Gabor 웨이브렛 변환을 이용하여 무표정을 포함한 표정영상에서 얼굴의 주요 요소들의 경계선을 추출한 후, FCM 군집화 알고리즘을 적용하여 무표정 영상에서 저차원의 대표적인 특징점을 추출한다. 무표정 영상의 특징점들은 표정영상의 특징점들을 추출하기 위한 템플릿으로 사용되어지며, 표정영상의 특징점 추출은 무표정 영상의 특징점과 동적 연결모형을 이용하여 개략적인 정합과 정밀한 정합 과정의 두단계로 이루어진다. 본 논문에서는 Gabor 웨이브렛과 FCM 군집화 알고리즘을 기반으로 동적 연결모형을 이용하여 표정영상에서 특징점들을 자동으로 추출할 수 있음을 제시한다. 본 연구결과는 자동 특징추출을 이용한 차원모형기반 얼굴 표정인식[1]에서 얼굴표정의 특징점을 자동으로 추출하는 데 적용되었다.

• 한국산학기술학회논문지
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• 제16권4호
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• pp.2744-2748
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• 2015

본 논문에서는 전자정부 표준 프레임워크 프로젝트 내에서 MDD/MDA 기술 적용으로 인한 생산성과 품질 향상효과를 기능점수 (Function Point) 관점과 코드 인스펙션 관점에서 분석하여 제시한다. 또한 본 사례의 프로젝트에서 적용한 MDD/MDA적용 방법을 소개한다. MDD 기법의 발전과 더불어 그 효과를 검증하기 위해 다양한 연구가 진행되고 있으나, 대부분은 사례 연구를 통해 얻어지는 교훈이나, 제한된 측정 데이터로 분석된 효과를 제시하고 있다. 본 연구에서는 효율적인 개발 방법론과 전자정부 표준 프레임워크를 활용하여 MDD를 실제 정보시스템 개발 프로세스에 적용한 사례 연구를 통해 새로운 측정지표로 정량적 효과성을 측정하였다. 더불어 Application Life-Cycle 환경에서 모델링 된 정보들을 통합 저장소를 통하여 관리함으로써 추적성과 가시성이 확보된 방안을 제시한다.

• 한국수자원학회논문집
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• 제45권5호
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• pp.505-516
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• 2012

본 연구에서는 국내외에서 범용되고 있는 단일강우사상 모형인 미육군공병단의 HEC-1 모형을 이용하여 대청댐 유역의 실측 강우-유출 사상을 중심으로 강우-유출 모의를 수행하였으며, 매개변수 검정에는 실제 대청댐의 시간당 유입량을 기준으로 검정을 실시하였다. HEC-1 모형에는 매개변수를 자동으로 최적화시키는 프로그램이 내장되어 있으나 본 연구의 대상유역과 같이 다수의 소유역이 있는 경우, 매개변수 추정시 매개변수 중 일부는 수렴되지 못하고 발산하는 문제가 있었으며, 첨두유량의 추정능력 역시 저하되는 문제를 보였다. 따라서 이러한 HEC-1 모형의 매개변수의 불확실성을 고려하기 위한 방안으로 Bayesian 모형을 HEC-1모형에 연동시켜 활용하였으며, 기존 HEC-1 강우-유출 모형에 적용할 수 있는 매개변수 최적화 및 불확실성 정량화를 위해 HEC-1 강우-유출 모형 매개변수는 SCS 1개, Clark 단위도 2개를 Bayesian MCMC 기법을 적용하여 매개변수간 조건부확률로 모의발생을 한 후, Bayesian 모형으로부터 각 매개변수의 사후분포(posterior distribution)를 추정하여 사후분포의 추정이 매개변수의 불확실성 정량화를 수행하였다. 본 연구를 통해 제안된 BHEC-1 모형을 대상으로 대청댐 유역에 실측 강우-유출사상에 대해서 모형의 적합성을 평가한 결과, 7개 유역의 21개의 매개변수가 해의 발산 없이 안정된 매개변수 추정이 가능하였다. 한편, Bayesian 모형을 근간으로 하기 때문에 최종결과로서 매개변수들의 사후분포(posterior)의 추정이 가능하여 향후 홍수빈도곡선 유도, 댐 위험도분석과 기후변화 문제와 같은 다양한 수문학적 문제의 연구에 적용 가능할 것으로 전망된다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2004년도 ICEIC The International Conference on Electronics Informations and Communications
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• pp.382-386
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• 2004

Recently, with the machine learning trend, most of the machine translation systems on over the world use two syntax tree sets of two relevant languages to learn syntactic tree transfer rules. However, for the English-Vietnamese language pair, this approach is impossible because until now we have not had a Vietnamese syntactic tree set which is correspondent to English one. Building of a very large correspondent Vietnamese syntactic tree set (thousands of trees) requires so much work and take the investment of specialists in linguistics. To take advantage from our available English-Vietnamese Corpus (EVC) which was tagged in word alignment, we choose the SITG (Stochastic Inversion Transduction Grammar) model to construct English- Vietnamese syntactic tree sets automatically. This model is used to parse two languages at the same time and then carry out the syntactic tree transfer. This English-Vietnamese bilingual syntactic tree set is the basic training data to carry out transferring automatically from English syntactic trees to Vietnamese ones by machine learning models. We tested the syntax analysis by comparing over 10,000 sentences in the amount of 500,000 sentences of our English-Vietnamese bilingual corpus and first stage got encouraging result $(analyzed\;about\;80\%)[5].$ We have made use the TBL algorithm (Transformation Based Learning) to carry out automatic transformations from English syntactic trees to Vietnamese ones based on that parallel syntactic tree transfer set[6].