• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.6
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• pp.726-732
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• 2013

It is required for UGV(Unmanned Ground Vehicle) to have a LPP(Local Path Plan) component which generate a local path via the center of road by analyzing binary map to travel autonomously unpaved road in rough environment. In this paper, we present the method of boundary estimation for unpaved road and a local path planning method based on RANGER algorithm using the estimated boundary. In specially, the paper presents an approach to estimate road boundary and the selection method of candidate path to minimize the problem of zigzag driving based on Bayesian probability reasoning. Field test is conducted with scenarios in rough environment in which bush, tree and unpaved road are included and the performance of proposed method is validated.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.4
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• pp.512-517
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• 2008

It is show that increasing of aged and handicapped people requires development of Ubiquitous computing technique to offer the specialized service for handicapped-people. For this, we need a development of Context Awareness and Service Reasoning Technique that the technique is supplied interaction between user and U-environment instead of the old unilateral relation. The old research of context awareness needed probabilistic presentation model like a Bayesian Network based on expert Systems for recognize given circumstance by a domain of uncertain real world. In this article, we define a domain of disorder activity assistant service application and context model based on ontology in diversified environment and minimized intervention of user and developer. By use this context model, we apply the structure learning of Bayesian Network and decide the service and activity to development of application service for handicapped people. Finally, we define the proper Conditional Probability Table of the structured Bayesian Network and if random situation is given to user, then present state variable of Activity and Service by given Causal relation of Bayesian Network based on Conditional Probability Table and it can be result of context awareness.

• Journal of KIISE:Computing Practices and Letters
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• v.14 no.6
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• pp.614-618
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• 2008

As the multimedia data increase a lot with the rapid development of the Internet, an efficient retrieval technique focusing on individual users is required based on the analyses of such data. However, user modeling services provided by recent web sites have the limitation of text-based page configurations and recommendation retrieval. In this paper, we construct the user preference model with a Bayesian network to apply the user modeling to video retrieval, and suggest a method which utilizes probability reasoning. To do this, context information is defined in a real office environment and the video scripts acquired from established cameras and annotated the context information manually are used. Personal information of the user, obtained from user input, is adopted for the evidence value of the constructed Bayesian Network, and user preference is inferred. The probability value, which is produced from the result of Bayesian Network reasoning, is used for retrieval, making the system return the retrieval result suitable for each user's preference. The usability test indicates that the satisfaction level of the selected results based on the proposed model is higher than general retrieval method.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.9
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• pp.849-854
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• 2001

GTM(Generative Topographic Mapping) model is a probabilistic version of the SOM(Self Organizing Maps) which was proposed by T. Kohonen. The GTM is modelled by latent or hidden variables of probability distribution of data. It is a unique characteristic not implemented in SOM model, and, therefore, it is possible with GTM to analyze data accurately, thereby overcoming the limits of SOM. In the present investigation we proposed a BGTM(Bayesian GTM) combined with Bayesian learning and GTM model that has a small mis-classification ratio. By combining fast calculation ability and probabilistic distribution of data of GTM with correct reasoning based on Bayesian model, the BGTM model provided improved results, compared with existing models.

• Journal of KIISE:Computing Practices and Letters
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• v.12 no.1
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• pp.56-65
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• 2006

Recently the study on service robots has been proliferated in many fields, and there are active developments for indoor services such as supporting for elderly people. It is important for robot to recognize objects and situations appropriately for effective and accurate service. Conventional object recognition methods have been based on the pre-defined geometric models, but they have limitations in indoor environments with uncertain situation such as the target objects are occluded by other ones. In this paper we propose a Bayesian network model to reason the probability of target objects for effective detection. We model the relationships between objects by activities, which are applied to non-static environments more flexibly. Overall structure is constructed by combining common-cause structures which are the units making relationship between objects, and it makes design process more efficient. We test the performance of two Bayesian networks for verifying the proposed Bayesian network model through experiments, resulting in accuracy of $86.5\%$ and $89.6\%$ respectively.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.106-112
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• 1993

A new model for the construction of a sonar map in a specular environment has been developed ad implemented. In a real world where most of the object surfaces are specular ones, a sonar sensor suffers from a multipath effect which results in a wrong interpretation of an objects's location. To reduce this effect and hence to construct a reliable map of a robot's surroundings, a probabilistic approach based on Bayesian reasoning is adopted to both evaluation of object orientations and estimation of an occupancy probability of a cell by an object. The usefulness of this approach is illustrated with the results produced by our mobile robot equipped with ultrasonic sensors.