• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.334-338
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• 2022

In visual simultaneous localization and mapping (vSLAM), the correct recognition of a place benefits in relocalization and improved map accuracy. However, its performance is significantly affected by the environmental conditions such as variation in light, viewpoints, seasons, and presence of dynamic objects. This research addresses the problem of feature occlusion caused by interference of dynamic objects leading to the poor performance of visual place recognition algorithm. To overcome the aforementioned problem, this research analyzes the role of scene semantics in correct detection of a place in challenging environments and presents a semantics aided visual place recognition method. Semantics being invariant to viewpoint changes and dynamic environment can improve the overall performance of the place matching method. The proposed method is evaluated on the two benchmark datasets with dynamic environment and seasonal changes. Experimental results show the improved performance of the visual place recognition method for vSLAM.

• Proceedings of the Korea Water Resources Association Conference
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• 2011.05a
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• pp.185-185
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• 2011

Mapping of artificial levee lines, one of major tasks in river zone mapping, is critical to prevention of river flood, protection of environments and eco systems in river zones. Thus, mapping of artificial levee lines is essential for management and development of river zones. Coastal mapping including river zone mapping has been historically carried out using surveying technologies. Photogrammetry, one of the surveying technologies, is recently used technology for national river zone mapping in Korea. Airborne laser scanning has been used in most advanced countries for coastal mapping due to its ability to penetrate shallow water and its high vertical accuracy. Due to these advantages, use of LiDAR data in coastal mapping is efficient for monitoring and predicting significant topographic change in river zones. This paper introduces a method for construction of a 3D artificial levee line using a set of LiDAR points that uses normal vectors. Multiple steps are involved in this method. First, a 2.5-dimensional Delaunay triangle mesh is generated based on three nearest-neighbor points in the LiDAR data. Second, a median filtering is applied to minimize noise. Third, edge selection algorithms are applied to extract break edges from a Delaunay triangle mesh using two normal vectors. In this research, two methods for edge selection algorithms using hypothesis testing are used to extract break edges. Fourth, intersection edges which are extracted using both methods at the same range are selected as the intersection edge group. Fifth, among intersection edge group, some linear feature edges which are not suitable to compose a levee line are removed as much as possible considering vertical distance, slope and connectivity of an edge. Sixth, with all line segments which are suitable to constitute a levee line, one river levee line segment is connected to another river levee line segment with the end points of both river levee line segments located nearest horizontally and vertically to each other. After linkage of all the river levee line segments, the initial river levee line is generated. Since the initial river levee line consists of the LiDAR points, the pattern of the initial river levee line is being zigzag along the river levee. Thus, for the last step, a algorithm for smoothing the initial river levee line is applied to fit the initial river levee line into the reference line, and the final 3D river levee line is constructed. After the algorithm is completed, the proposed algorithm is applied to construct the 3D river levee line in Zng-San levee nearby Ham-Ahn Bo in Nak-Dong river. Statistical results show that the constructed river levee line generated using a proposed method has high accuracy in comparison to the ground truth. This paper shows that use of LiDAR data for construction of the 3D river levee line for river zone mapping is useful and efficient; and, as a result, it can be replaced with ground surveying method for construction of the 3D river levee line.

• Journal of KIISE:Software and Applications
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• v.31 no.3
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• pp.361-368
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• 2004

The purpose of this study is to propose a new on-line nonlinear PCA(OL-NPCA) method for a nonlinear feature extraction from the incremental data. Kernel PCA(KPCA) is widely used for nonlinear feature extraction, however, it has been pointed out that KPCA has the following problems. First, applying KPCA to N patterns requires storing and finding the eigenvectors of a N${\times}$N kernel matrix, which is infeasible for a large number of data N. Second problem is that in order to update the eigenvectors with an another data, the whole eigenspace should be recomputed. OL-NPCA overcomes these problems by incremental eigenspace update method with a feature mapping function. According to the experimental results, which comes from applying OL-NPCA to a toy and a large data problem, OL-NPCA shows following advantages. First, OL-NPCA is more efficient in memory requirement than KPCA. Second advantage is that OL-NPCA is comparable in performance to KPCA. Furthermore, performance of OL-NPCA can be easily improved by re-learning the data.

• Journal of Biomedical Engineering Research
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• v.23 no.1
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• pp.39-47
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• 2002

The objective of this study is to provide a Precise form of spatial normalization with affine transformation. The quantitative comparison of the brain architecture across different subjects requires a common coordinate system. For the common coordinate system, not only global brain but also a local region of interest should be spatially normalized. Registration using mutual information generally matches the whose brain well. However. a region of interest may not be normalized compared to the feature-based methods with the landmarks. The hybrid method of this Paper utilizes feature information of the local region as well as intensity similarity. Central gray nuclei of a brain including copus callosum, which is used for feature in Schizophrenia detection, is appropriately normalized by the hybrid method. In the results section. our method is compared with mutual information only method and Talairach mapping with schizophrenia Patients. and is shown how it accurately normalizes feature .

• Proceedings of the KSRS Conference
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• 2001.03a
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• pp.71-76
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• 2001

인공위성을 이용하여 산불피해지역을 분석하기 위해 KT(Kauth-Thomas)변환기법과 IHS(Intensity-Hue-Saturation)변환기법을 적용하여 비교해 보고 산불피해등급지도를 작성하였다. 방사보정과 지형보정을 수행한 영상을 각각 IHS와 KT로 변환시킨 후 최대우도법에 의하여 분류하였다. 정확도 평가에서 KHAT statistic은 각각 0.67와 0.76을 나타내었다. 현장데이터가 부족하여 cross-validation을 수행하였으며, 일관되게 KT변환기법에 의한 분류결과가 IHS기법에 의한 분류결과보다 더 높은 정확도를 보여주었다. 또한 KT feature space 와 IHS 컴포넌트의 분광 분포를 그래프 상에서 분석해 보았다. 3개의 KT feature 중, greenness와 wetness가 brightness 보다 각 클래스에 대해서 보다 높은 분리성을 제공하였다. 하니만 IHS 컴포넌트의 분광분포는 뚜렷한 분리성이 나타나지 않고 서로 섞여 있는 것을 볼 수 있었다. 따라서, KT변환기법이 IHS변환기법보다 산불피해지역을 추출함에 있어 더 높은 정확도를 나타내고, 산불과 관련된 지표의 물리적 특성을 더 잘 반영한다고 할 수 있다.

• Journal of Korea Multimedia Society
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• v.20 no.12
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• pp.2009-2015
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• 2017

A two-dimensional lens is required to reproduce both the horizontal and vertical parallax through an autostereoscopic 3D display. Among the two-dimensional lenses, a hexagonal micro lens array (MLA) having good optical efficiency is mainly used. However, the hexagonal MLA has complex geometric features. The first feature is that the lens cells are zigzagged in the vertical direction, which should be reflected in the view number calculation for each sub-pixel. The second feature is that the four sides of a hexagonal lens cell are tilted, requiring a more careful view index assignment to the lens cell. In this paper, we propose a sub-pixel multiplexing scheme suitable for the features of the hexagonal MLA. We also propose a view-overlay algorithm based on a two-dimensional lens and compare subjective image quality with existing view-selection through autostereoscopic 3D display implementation.

• Journal of the Korea Society of Computer and Information
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• v.21 no.3
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• pp.97-104
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• 2016

In this paper, we propose spatial information based simulator for user experience optimization and minimize real space complexity. We focus on developing simulator how to design virtual space model and to implement virtual character using real space data. Especially, we use expanded events-driven inference model for SVM based on machine learning. Our simulator is capable of feature selection by k-fold cross validation method for optimization of data learning. This strategy efficiently throughput of executing inference of user behavior feature by virtual space model. Thus, we aim to develop the user experience optimization system for people to facilitate mapping as the first step toward to daily life data inference. Methodologically, we focus on user behavior and space modeling for implement virtual space.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.10
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• pp.1335-1343
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• 1999

This paper presents concrete pattern recognition method to identify the strength of concrete by evidence accumulation with multiple parameters based on artificial intelligence techniques. At first, zero-crossing(ZCR), mean frequency(MEANF), median frequency(MEDF) and autoregressive model coefficient(ARC) are extracted as feature parameters from ultrasonic signal of concrete. Pattern recognition is carried out through the evidence accumulation procedure using distance measured with reference parameters. A fuzzy mapping function is designed to transform the distances for the application of the evidence accumulation method. Results are presented to support the feasibility of the suggested approach for concrete pattern recognition.

• Proceedings of the IEEK Conference
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• 2000.11c
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• pp.113-116
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• 2000

Human face recognition and 3D human face reconstruction has been studied in this paper. To find the facial feature points, find edge from input image and analysis the accumulated histogram of edge information. This paper use a Generic Face Model to display the 3D human face model which was implement with OpenGL and generated with 500 polygons. For reality of 3D human face model, we propose Group matching mapping method between facial feature points and the one of Generic Face Model. The personalized 3D human face model which resembles real human face can be generated automatically in less than 5 seconds on Pentium PC.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.1
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• pp.40-47
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• 2010

This paper presents a simultaneous localization and mapping (SLAM) of an indoor hallway environment using Rao-Blackwellized particle filter (RBPF) along with a line segment as a landmark. Based on the fact that fluent line features can be extracted around the ceiling and side walls of hallway using vision sensor, a horizontal line segment is extracted from an edge image using Hough transform and is also tracked continuously by an optical flow method. A successive observation of a line segment gives initial state of the line in 3D space. For data association, registered feature and observed feature are matched in image space through a degree of overlap, an orientation of line, and a distance between two lines. Experiments show that a compact environmental map can be constructed with small number of horizontal line features in real-time.