• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.4
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• pp.173-180
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• 2006

A key component of autonomous navigation of intelligent home robot is localization and map building with recognized features from the environment. To validate this, accurate measurement of relative location between robot and features is essential. In this paper, we proposed relative localization algorithm based on 3D reconstruction of scale invariant features of two images which are captured from two parallel cameras. We captured two images from parallel cameras which are attached in front of robot and detect scale invariant features in each image using SIFT(scale invariant feature transform). Then, we performed matching for the two image's feature points and got the relative location using 3D reconstruction for the matched points. Stereo camera needs high precision of two camera's extrinsic and matching pixels in two camera image. Because we used two cameras which are different from stereo camera and scale invariant feature point and it's easy to setup the extrinsic parameter. Furthermore, 3D reconstruction does not need any other sensor. And the results can be simultaneously used by obstacle avoidance, map building and localization. We set 20cm the distance between two camera and capture the 3frames per second. The experimental results show :t6cm maximum error in the range of less than 2m and ${\pm}15cm$ maximum error in the range of between 2m and 4m.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.29 no.2
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• pp.113-121
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• 2011

In this paper, we proposed the method automatically to match areal feature based on similarity using spatial information. For this, we extracted candidate matching pairs intersected between two different spatial datasets, and then measured a shape similarity, which is calculated by an weight sum method of each matching criterion automatically derived from CRITIC method. In this time, matching pairs were selected when similarity is more than a threshold determined by outliers detection of adjusted boxplot from training data. After applying this method to two distinct spatial datasets: a digital topographic map and street-name address base map, we conformed that buildings were matched, that shape is similar and a large area is overlaid in visual evaluation, and F-Measure is highly 0.932 in statistical evaluation.

• The Journal of the Acoustical Society of Korea
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• v.22 no.7
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• pp.603-611
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• 2003

This paper proposes an effective feature compensation scheme based on speech model for achieving robust speech recognition. Conventional model-based method requires off-line training with noisy speech database and is not suitable for online adaptation. In the proposed scheme, we can relax the off-line training with noisy speech database by employing the parallel model combination technique for estimation of correction factors. Applying the model combination process over to the mixture model alone as opposed to entire HMM makes the online model combination possible. Exploiting the availability of noise model from off-line sources, we accomplish the online adaptation via MAP (Maximum A Posteriori) estimation. In addition, the online channel estimation procedure is induced within the proposed framework. For more efficient implementation, we propose a selective model combination which leads to reduction or the computational complexities. The representative experimental results indicate that the suggested algorithm is effective in realizing robust speech recognition under the combined adverse conditions of additive background noise and channel distortion.

• Journal of the Korea Convergence Society
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• v.11 no.3
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• pp.19-26
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• 2020

In this paper, we propose a method to analyze the loss region of the dictionary-based super resolution result learned for image quality improvement and to map the learning data according to the analyzed loss region. In the conventional learned dictionary-based method, a result different from the feature configuration of the input image may be generated according to the learning image, and an unintended artifact may occur. The proposed method estimate loss information of low resolution images by analyzing the reconstructed contents to reduce inconsistent feature composition and unintended artifacts in the example-based super resolution process. By mapping the training data according to the final interpolation feature map, which improves the noise and pixel imbalance of the estimated loss information using a Gaussian-based kernel, it generates super resolution with improved noise, artifacts, and staircase compared to the existing super resolution. For the evaluation, the results of the existing super resolution generation algorithms and the proposed method are compared with the high-definition image, which is 4% better in the PSNR (Peak Signal to Noise Ratio) and 3% in the SSIM (Structural SIMilarity Index).

• The KIPS Transactions:PartB
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• v.10B no.3
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• pp.243-248
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• 2003

An incremental kernel principal component analysis (IKPCA) is proposed for the nonlinear feature extraction from the data. The problem of batch kernel principal component analysis (KPCA) is that the computation becomes prohibitive when the data set is large. Another problem is that, in order to update the eigenvectors with another data, the whole eigenspace should be recomputed. IKPCA overcomes these problems by incrementally computing eigenspace model and empirical kernel map The IKPCA is more efficient in memory requirement than a batch KPCA and can be easily improved by re-learning the data. In our experiments we show that IKPCA is comparable in performance to a batch KPCA for the feature extraction and classification problem on nonlinear data set.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.18 no.4
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• pp.938-958
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• 2024

Unsupervised Video Object Segmentation (UVOS) is a highly challenging problem in computer vision as the annotation of the target object in the testing video is unknown at all. The main difficulty is to effectively handle the complicated and changeable motion state of the target object and the confusion of similar background objects in video sequence. In this paper, we propose a novel deep Dual-stream Co-enhanced Network (DC-Net) for UVOS via bidirectional motion cues refinement and multi-level feature aggregation, which can fully take advantage of motion cues and effectively integrate different level features to produce high-quality segmentation mask. DC-Net is a dual-stream architecture where the two streams are co-enhanced by each other. One is a motion stream with a Motion-cues Refine Module (MRM), which learns from bidirectional optical flow images and produces fine-grained and complete distinctive motion saliency map, and the other is an appearance stream with a Multi-level Feature Aggregation Module (MFAM) and a Context Attention Module (CAM) which are designed to integrate the different level features effectively. Specifically, the motion saliency map obtained by the motion stream is fused with each stage of the decoder in the appearance stream to improve the segmentation, and in turn the segmentation loss in the appearance stream feeds back into the motion stream to enhance the motion refinement. Experimental results on three datasets (Davis2016, VideoSD, SegTrack-v2) demonstrate that DC-Net has achieved comparable results with some state-of-the-art methods.

• The Journal of the Acoustical Society of Korea
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• v.17 no.2E
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• pp.31-37
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• 1998

This paper proposes a feature extraction method using wavelet transform for speech recognition. Speech recognition system generally carries out the recognition task based on speech features which are usually obtained via time-frequency representations such as Short-Time Fourier Transform (STFT) and Linear Predictive Coding(LPC). In some respects these methods may not be suitable for representing highly complex speech characteristics. They map the speech features with same may not frequency resolutions at all frequencies. Wavelet transform overcomes some of these limitations. Wavelet transform captures signal with fine time resolutions at high frequencies and fine frequency resolutions at low frequencies, which may present a significant advantage when analyzing highly localized speech events. Based on this motivation, this paper investigates the effectiveness of wavelet transform for feature extraction of wavelet transform for feature extraction focused on enhancing speech recognition. The proposed method is implemented using Sampled Continuous Wavelet Transform (SCWT) and its performance is tested on a speaker-independent isolated word recognizer that discerns 50 Korean words. In particular, the effect of mother wavelet employed and number of voices per octave on the performance of proposed method is investigated. Also the influence on the size of mother wavelet on the performance of proposed method is discussed. Throughout the experiments, the performance of proposed method is discussed. Throughout the experiments, the performance of proposed method is compared with the most prevalent conventional method, MFCC (Mel0frequency Cepstral Coefficient). The experiments show that the recognition performance of the proposed method is better than that of MFCC. But the improvement is marginal while, due to the dimensionality increase, the computational loads of proposed method is substantially greater than that of MFCC.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.10
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• pp.5161-5178
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• 2019

Correlation Filter was recently demonstrated to have good characteristics in the field of video object tracking. The advantages of Correlation Filter based trackers are reflected in the high accuracy and robustness it provides while maintaining a high speed. However, there are still some necessary improvements that should be made. First, most trackers cannot handle multi-scale problems. To solve this problem, our algorithm combines position estimation with scale estimation. The difference from the traditional method in regard to the scale estimation is that, the proposed method can track the scale of the object more quickly and effective. Additionally, in the feature extraction module, the feature representation of traditional algorithms is relatively simple, and furthermore, the tracking performance is easily affected in complex scenarios. In this paper, we design a novel and powerful feature that can significantly improve the tracking performance. Finally, traditional trackers often suffer from model drift, which is caused by occlusion and other complex scenarios. We introduce a relocation component to detect object at other locations such as the secondary peak of the response map. It partly alleviates the model drift problem.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.19 no.2
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• pp.109-115
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• 2001

Recently, in accordance with the introduction of Digital Photogrammetry Systems the use of Digital ortho-photo images have increased and progressed in the study which extract the features from digital ortho-photo image semi-automatically or automatically. However, there are a limit. It has proved in many studies that recognition of the attribution or the features from panchromatic aerial photo is restricted. In this study, I compared color aerial images with panchromatic aerial images and analyzed the characteristics of color aerial images and feature entities which can be extracted semi-automatically. I analyzed extracted feature entities are compared with digital map at a scale of 1:5,000 have constructed in National Geography Institute. With this result, I analyzed the capability of feature extraction and proposed a plan for the study in the future.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.47 no.3
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• pp.36-41
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• 2010

An advanced form of Multistage Feature-based Classification Model(AMFCM), called AMFCM, is proposed in this paper. AMFCM like MFCM does not use the concatenated form of available feature vectors extracted from original data to classify each data, but uses only groups related to each feature vector to classify separately. The prpposed AMFCM improves the contribution rate used in MFCM and proposes a confusion table for each local classifier using a specific feature vector group. The confusion table for each local classifier contains accuracy information of each local classifier on each class of data. The proposed AMFCM is applied to the problem of music genre classification on a set of music data. The results demonstrate that the proposed AMFCM outperforms MFCM by 8% - 15% on average in terms of classification accuracy depending on the grouping algorithms used for local classifiers and the number of clusters.