• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1098-1102
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• 2014

Localization of aerial vehicles and map building of flight environments are key technologies for the autonomous flight of small UAVs. In outdoor environments, an unmanned aircraft can easily use a GPS (Global Positioning System) for its localization with acceptable accuracy. However, as the GPS is not available for use in indoor environments, the development of a SLAM (Simultaneous Localization and Mapping) system that is suitable for small UAVs is therefore needed. In this paper, we suggest a vision-based SLAM system that uses vision sensors and an AHRS (Attitude Heading Reference System) sensor. Feature points in images captured from the vision sensor are obtained by using GPU (Graphics Process Unit) based SIFT (Scale-invariant Feature Transform) algorithm. Those feature points are then combined with attitude information obtained from the AHRS to estimate the position of the small UAV. Based on the location information and color distribution, a Gaussian process model is generated, which could be a map. The experimental results show that the position of a small unmanned aircraft is estimated properly and the map of the environment is constructed by using the proposed method. Finally, the reliability of the proposed method is verified by comparing the difference between the estimated values and the actual values.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.34 no.2
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• pp.195-206
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• 2016

The remote sensing technique using SAR data have many advantages when applied to the disaster site due to its wide coverage and all-weather acquisition availability. Although a single-pol (polarimetric) SAR image cannot represent the land surface better than a quad-pol SAR image can, single-pol SAR data are worth using for disaster-induced change detection. In this paper, an automatic change detection method based on a mixture of GGDs (generalized Gaussian distribution) is proposed, and usability of the textural features and intensity is evaluated by using the proposed method. Three ALOS/PALSAR images were used in the experiments, and the study site was Norita City, which was affected by the 2011 Tohoku earthquake. The experiment results showed that the proposed automatic change detection method is practical for disaster sites where the large areas change. The intensity information is useful for detecting disaster-induced changes with a 68.3% g-mean, but the texture information is not. The autocorrelation and correlation show the interesting implication that they tend not to extract agricultural areas in the change detection map. Therefore, the final tsunami-induced change map is produced by the combination of three maps: one is derived from the intensity information and used as an initial map, and the others are derived from the textural information and used as auxiliary data.

• The Pure and Applied Mathematics
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• v.28 no.1
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• pp.43-53
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• 2021

We study translation surfaces in the Euclidean 3-space ��3 and the Gauss map N with respect to the so-called Cheng-Yau operator ☐. As a result, we prove that the only translation surfaces with Gauss map N satisfying ☐N = AN for some 3 × 3 matrix A are the flat ones. We also show that the only translation surfaces with Gauss map N satisfying ☐N = AN for some nonzero 3 × 3 matrix A are the cylindrical surfaces.

• Journal of Korea Multimedia Society
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• v.3 no.4
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• pp.416-423
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• 2000

The existing self-organizing feature map of Kohonen has weakpoint that need too much input patterns in order to converse into the learning rate and equilibrium state when it trains. Making up for the current weak point, B.Bavarian suggested the method of that distributed the learning rate such as Gaussian function. However, this method has also a disadvantage which can not achieve the right self-organizing. In this paper, we proposed the method of improving the convergence speed and the convergence rate of self-organizing feature map converting the Gaussian function into dynamic approximate curve used in when trains the self-organizing feature map.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.3C
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• pp.304-310
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• 2009

This paper proposes a successive MAP (maximum a posteriori probability) detection scheme with SoIC(soft interference cancellation) to reduce the receiver complexity of hierarchical M-ary QAM system. For the successive MAP detection, modulation symbols generated from the other data streams are treated as Gaussian noise or eliminated as the soft interference according to their priorities. The log-likelihood ratio of the a posteriori probability (LAPRP) of each bit is calculated by the MAP detector with an adjusted noise variance in order to take the elimination and Gaussian assumption effect into account. By separating the detection process into the successive steps, the detection complexity is reduced to increase linearly with the number of bits per hierarchical M-ary QAM symbol. Simulation results show that the proposed detection provides a small performance degradation as compared to the optimal MAP detection.

• Proceedings of the Korean Society of Computer Information Conference
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• 2015.07a
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• pp.45-48
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• 2015

오늘날 하드웨어의 발전으로 인해 영상 해상도는 FHD를 넘어 4K UHD 이상의 영상 해상도가 사용화되고 있다. 하지만 Edge Map을 만들기 위해 일반적으로 사용하는 함수들은 Convolution 함수 일종으로서 영상의 해상도가 높을수록 더 많은 Complexity를 요구한다. 또한 현재 주요 영상 압축 기술인 JPEG, H.264/AVC High efficiency video coding(HEVC)같은 기법들은 자연 영상을 중점으로 개발되어 있어 Edge map 압축에 있어 자연 영상만큼의 효율을 보여주지 못하고 있다. 본 논문은 원 영상을 Down Scaling한 뒤 이미지를 다시 원래 사이즈로 Up Scaling하여 두 영상의 차를 이용한 Edge Map을 생성하는 새로운 방법을 소개한다. 생성된 Edge Map의 특성인 Histogram 값의 분포가 0을 중심으로 Gaussian 분포를 가지는 것을 이용한 Zero Based 코덱을 제안한다. 제안된 알고리즘을 이용하여 고 해상도 영상에서도 빠르게 Edge Map을 생성하고 제안한 코덱을 통해 해당 Edge map을 압축한 결과 다른 압축 기술보다 더 뛰어난 성능을 보여주었다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.5
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• pp.1047-1054
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• 2015

This paper presents an acoustic model transform method using untranscribed speech database for improved speech recognition. In the presented model transform method, an adapted GMM is obtained by employing the conventional adaptation method, and the most similar Gaussian component is selected from the adapted GMM. The bias vector between the mean vectors of the clean GMM and the adapted GMM is used for updating the mean vector of HMM. The presented GAMT combined with MAP or MLLR brings improved speech recognition performance in car noise and speech babble conditions, compared to singly-used MAP or MLLR respectively. The experimental results show that the presented model transform method effectively utilizes untranscribed speech database for acoustic model adaptation in order to increase speech recognition accuracy.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.42.6-42
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• 2002

Kohonen's self organizing feature map (SOFM) converts arbitrary dimensional patterns into one or two dimensional arrays of nodes. Among the many competitive learning algorithms, SOFM proposed by Kohonen is considered to be powerful in the sense that it not only clusters the input pattern adaptively but also organize the output node topologically. SOFM is usually used for a preprocessor or cluster. It can perform dimensional reduction of input patterns and obtain a topology-preserving map that preserves neighborhood relations of the input patterns. The traditional SOFM algorithm[1] is a competitive learning neural network that maps inputs to discrete points that are called nodes on a lattice...

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.5
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• pp.1155-1163
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• 2011

In this paper, we propose a new pre-processing algorithm applied to depth map to improve the coding efficiency. Now, 3DV/FTV group in the MPEG is working for standard of 3DVC(3D video coding), but compression method for depth map images are not confirmed yet. In the proposed algorithm, after dividing the histogram distribution of a given depth map by EM clustering method based on GMM, we classify the depth map into several layered images. Then, we apply different mean shift filter to each classified image according to the existence of background or foreground in it. In other words, we try to maximize the coding efficiency while keeping the boundary of each object and taking average operation toward inner field of the boundary. The experiments are performed with many test images and the results show that the proposed algorithm achieves bits reduction of 19% ~ 20% and computation time is also reduced.

• Proceedings of the Korean Society of Computer Information Conference
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• 2012.07a
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• pp.79-82
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• 2012

3차원 멀티미디어 서비스에 대한 관심이 높아짐에 따라 관련 연구들이 현재 다양하게 논의되고 있다. Stereoscopy영상을 생성하기 위한 기존의 방법으로는 두 대의 촬영용 카메라를 일정한 간격으로 띄워놓고 피사체를 촬영한 후 해당 좌시점과 우시점을 생성하는 방법을 이용하였다. 하지만 이는 영상 대역폭의 부담을 가져오게 된다. 이를 해결하기 위하여 Depth정보와 한 장의 영상을 이용한 DIBR(Depth Image Based Rendering) Algorithm에 대한 연구가 많이 이루어지고 있다. 그중 Gaussian Depth Map을 이용한 Hole-Filling 방법은 DIBR에서 가장 자연스러운 결과를 보여주지만 다른 DIBR Algorithm들에 비해 속도가 현저히 느리다는 단점이 있다. 본 논문에서는 영상 생성의 고속화를 위해 GPU를 이용한 Gaussian Hole-Filling Algorithm의 병렬처리 구조를 제안하고 이를 이용한 DIBR Algorithm 생성과정을 제시한다.