• Journal of Institute of Control, Robotics and Systems
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• v.5 no.3
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• pp.314-323
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• 1999

This paper introduces a methodology of active calibration of a camera pose (orientation and position) using the images of cylindrical objects that are going to be manipulated. This active calibration method is different from the passive calibration where a specific pattern needs to be located at a certain position. In the active calibration, a camera attached on the robot captures images of objects that are going to be manipulated. That is, the prespecified position and orientation data of the cylindrical object are transformed into the camera pose through the two consecutive image frames. An ellipse can be extracted from each image frame, which is defined as a circular-feature matrix. Therefore, two circular-feature matrices and motion parameters between the two ellipses are enough for the active calibration process. This active calibration scheme is very effective for the precise control of a mobile/task robot that needs to be calibrated dynamically. To verify the effectiveness of active calibration, fundamental experiments are peformed.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.54-56
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• 2009

We propose an image change detection algorithm implemented on sensor nodes of the ubiquitous sensor network(USN). The proposed algorithm was designed for the robust detection of image changes regardless of the continuously changing ambient illumination environment. Morphological lowpass filter was used for estimating the illumination component in order to reduce computational burden instead of the existing Gaussian lowpass filter. The decision of the change detection is based on the result of threshold of difference image between two consecutive images. We also propose a new thresholding method using precalculated histogram information. The proposed algorithm was implemented on the MSP430 16bit microprocessor.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.33A no.2
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• pp.196-204
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• 1996

This paper presents a new scheduling algorithm, which is the most improtant subtask in the high level synthesis. The proposed algorithm performs scheduling in consideration of resource sharing concept based on characteristics of conditionsla bransches in the intermediate data structure. CDFG (control data flow graph) generated by a VHDL analyzer. This algorithm constructs a conditon graph based on time frame of each operation using both the ASAP and the ALAP scheduling algorithm. The conditon priority is obtained from the condition graph constructed from each conditional brance. The determined condition priority implies the sequential order of transforming the CDFG with conditonal branches into the CDFG without conditional branches. To minimize resource cost, the CDFG with conditional branches are transformed into the CDFG without conditonal brancehs according to the condition priority. Considering the data dependency, the hardware constraints, and the data execution time constraints, each operation in the transformed CDFG is assigned ot control steps. Such assigning of unscheduled operations into contorl steps implies the performance of the scheduling in the consecutive movement of operations. The effectiveness of this algorithm is hsown by the experiment for the benchmark circuits.

• Journal of Korea Multimedia Society
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• v.24 no.2
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• pp.167-177
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• 2021

In the field of augmented reality, edge-based methods have been popularly used in tracking textureless 3D objects. However, edge-based methods are inherently vulnerable to cluttered backgrounds. Another way to track textureless or poorly-textured 3D objects is to directly align image intensity of 3D object between consecutive frames. Although the direct methods enable more reliable and stable tracking compared to using local features such as edges, they are more sensitive to occlusion and less accurate than the edge-based methods. Therefore, we propose a method that combines an edge-based method and a direct method to leverage the advantages from each approach. Experimental results show that the proposed method is much robust to both fast camera (or object) movements and occlusion while still working in real time at a frame rate of 18 Hz. The tracking success rate and tracking accuracy were improved by up to 84% and 1.4 pixels, respectively, compared to using the edge-based method or the direct method solely.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.41 no.5
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• pp.45-52
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• 2004

According tothe development of digital media technologies various algorithms for video sequence matching have been proposed to match the video sequences efficiently. A large number of video sequence matching methods have focused on frame-wise query, whereas a relatively few algorithms have been presented for video sequence matching or video shot matching. In this paper, we propose an efficientalgorithm to index the video sequences and to retrieve the sequences for video sequence query. To improve the accuracy and performance of video sequence matching, we employ the Cauchy function as a similarity measure between histograms of consecutive frames, which yields a high performance compared with conventional measures. The key frames extracted from segmented video shots can be used not only for video shot clustering but also for video sequence matching or browsing, where the key frame is defined by the frame that is significantly different from the previous fames. Several key frame extraction algorithms have been proposed, in which similar methods used for shot boundary detection were employed with proper similarity measures. In this paper, we propose the efficient algorithm to extract key frames using the cumulative Cauchy function measure and. compare its performance with that of conventional algorithms. Video sequence matching can be performed by evaluating the similarity between data sets of key frames. To improve the matching efficiency with the set of extracted key frames we employ the Cauchy function and the modified Hausdorff distance. Experimental results with several color video sequences show that the proposed method yields the high matching performance and accuracy with a low computational load compared with conventional algorithms.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.48 no.1
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• pp.80-89
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• 2011

In this paper, a new real time video scaling technique which preserved the contents of a movie was proposed. Because in a movie a correlation exists between consecutive frames, in this paper by determining the seam of the current frame considering the seam of the previous frame, it was proposed the real time video scaling technique without the shaking phenomenon of the contents even though the entire video is not analyzed. For this purpose, frames which have similar features in a movie are classified into a scene, and the first frame of a scene is resized by the seam carving at the static images so that it can preserve the contents of the image to the utmost. At this time, the information about the seam extracted to convert the image size is saved, and the sizes of the next frames are controlled with reference to the seam information stored in the previous frame by each frame. The proposed algorithm has the fast processing speed of the extent of being similar to a bilinear method and preserves the main content of an image to the utmost at the same time. Also because the memory usage is remarkably small compared with the existing seam carving method, the proposed algorithm is usable in the mobile terminal in which there are many memory restrictions. Computer simulation results indicate that the proposed technique provides better objective performance and subjective image quality about the real time processing and shaking phenomenon removal and contents conservation than conventional algorithms.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.4
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• pp.453-460
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• 2009

For constructing 3D information using aerial photograph or video sequences, left and right stereo images having different viewing angle should be prepared in overlapping area. In video sequences, left and right stereo images would be generated by mosaicing left and right slice images extracted in consecutive video sequences. Therefore, this paper is focused on generating left and right stereo mosaic images that are able to construct 3D information and video sequences could be made for the best use. In the stereo mosaic generation, motion parameters between video sequences should be firstly determined. In this paper, to determine motion parameters, free mosaic method using geometric relationship, such as relative orientation parameters, between consecutive frame images without GPS/INS geo-data have applied. After determining the motion parameters, the mosaic image have generated by 4 step processes: image registration, image slicing, determining on stitching line, and 3D image mosaicking. As the result of experiment, generated stereo mosaic image and analyzed result of x, y-parallax have showed.

• Journal of Korean Society for Geospatial Information Science
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• v.17 no.3
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• pp.49-56
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• 2009

Recently, a generation of high quality mosaic images from video sequences has been attempted by a variety of investigations. Among the matter of investigation, in this paper, generation on stereo mosaic utilizing airborne-video sequence images is focused upon. The stereo mosaic is made by creating left and right mosaic which are fabricated by front and rear slices having different viewing angle in consecutive video frames. For making the stereo mosaic, motion parameters which are able to define geometric relationship between consecutive video frames are determined. For determining motion parameters, affine model which is able to explain relative motion parameters is applied by this paper. The mosaicing method using relative motion parameters is called by free mosaic. The free mosaic proposed in this paper consists of 4 step processes: image registration with reference to first frame using affine model, front and rear slicing, stitching line definition and image mosaicing. As the result of experiment, the left and right mosaic image, anaglyphic image for stereo mosaic images are showed and analyzed y-parallax for checking accuracy.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.41 no.2
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• pp.113-130
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• 2004

Most multimedia data contain text to emphasize the meaning of the data, to present additional explanations about the situation, or to translate different languages. But, the left makes it difficult to reuse the images, and distorts not only the original images but also their meanings. Accordingly, this paper proposes a support vector machines (SVMs) and spatiotemporal restoration-based approach for automatic text detection and removal in video sequences. Given two consecutive frames, first, text regions in the current frame are detected by an SVM-based texture classifier Second, two stages are performed for the restoration of the regions occluded by the detected text regions: temporal restoration in consecutive frames and spatial restoration in the current frame. Utilizing text motion and background difference, an input video sequence is classified and a different temporal restoration scheme is applied to the sequence. Such a combination of temporal restoration and spatial restoration shows great potential for automatic detection and removal of objects of interest in various kinds of video sequences, and is applicable to many applications such as translation of captions and replacement of indirect advertisements in videos.

• The Journal of the Acoustical Society of Korea
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• v.29 no.1
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• pp.48-55
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• 2010

It has a falling off in speech quality, especially when consecutive packet loss occurs, even if a vocoder implemented in the packet network has its own packet loss concealment (PLC) algorithm. PLC algorithm is divided into transmitter and receiver algorithm. Algorithm in the transmitter gives superior quality by additional information. however it is impossible to provide mutual compatibility and it occurs extra delay and transmission rate. The method applied in the receiver does not require additional delay. However, it sets limits to improve the speech quality. In this paper, we propose a new method that puts extra information for PLC in a part of Extension Header Data which is not used in RTP Header. It can solve the problem and obtain enhanced speech quality. There is no extra delay occurred by the proposed algorithm because there is a jitter buffer to adjust network delay in a receiver. Extra information, 16 bits each frame for G.729 PLC, is allocated for MA filter index in LP synthesis, excitation signal, excitation signal gain and residual gain reconstruction. It is because a transmitter sends speech data each 20 ms when it transfers RTP payload. As a result, the proposed method shows superior performance about 13.5%.