• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.450-456
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• 2006

Monte Carlo localization is known to be one of the most reliable methods for pose estimation of a mobile robot. Although MCL is capable of estimating the robot pose even for a completely unknown initial pose in the known environment, it takes considerable time to give an initial pose estimate because the number of random samples is usually very large especially for a large-scale environment. For practical implementation of MCL, therefore, a reduction in sample size is desirable. This paper presents a novel approach to reducing the number of samples used in the particle filter for efficient implementation of MCL. To this end, the topological information generated through the thinning technique, which is commonly used in image processing, is employed. The global topological map is first created from the given grid map for the environment. The robot then scans the local environment using a laser rangefinder and generates a local topological map. The robot then navigates only on this local topological edge, which is likely to be similar to the one obtained off-line from the given grid map. Random samples are drawn near the topological edge instead of being taken with uniform distribution all over the environment, since the robot traverses along the edge. Experimental results using the proposed method show that the number of samples can be reduced considerably, and the time required for robot pose estimation can also be substantially decreased without adverse effects on the performance of MCL.

• Journal of Digital Contents Society
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• v.10 no.2
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• pp.319-326
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• 2009

In this paper, we present an algorithm which recognize hand shape in real time using only image without adhering separate sensor. Hand recognizes using edge orientation histogram, which comes under a constant quantity of 2D appearances because hand shape is intricate. This method suit hand pose recognition in real time because it extracts hand space accurately, has little computation quantity, and is less sensitive to lighting change using color information in complicated background. Method which reduces recognition error using principal component analysis(PCA) method to can recognize through hand shape presentation direction change is explained. A case that hand shape changes by turning 3D also by using this method is possible to recognize. Human interface system manufacture technique, which controls a home electric appliance or game using, suggested method at experience could be applied.

• Journal of the Korea Society of Computer and Information
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• v.4 no.3
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• pp.8-12
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• 1999

Edge detection is a key component for many modern computer vision applications. While it is certainly not the only way to identify an object, or track a feature, it can be one of the most convenient if it is done quickly and consistently. Many algorithms proposed is applied to gray level images. But. there are limits in method using only intensity information, so, many researchers has try to done research about using color information. In this paper, we propose the new edge detection method usign color information, implement the widely used algorithms and compared with them in performance. In result of experiment, we show that the proposed algorithm have better result in fine detail and shaded region of image.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.26 no.11A
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• pp.1880-1888
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• 2001

In wireless communication systems, transmission errors degrade the reconstructed image quality severely. Among various techniques which reduce the degradation, the error concealment technique yields good performance without overheads and the modification of the encoder. In this paper, we have proposed the technique for recovering the corrupted motion vector using the edge direction of blocks which surround the corrupted block, when the video information is compressed by H.263 standard. We uses the property that each object in video sequences shows the same motion. For the estimation of edge directions, the first AC coefficients of blocks are used. Extensive simulation results show that the proposed technique yields good performance with a reduced computational complexity.

• International Journal of Advanced Culture Technology
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• v.10 no.2
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• pp.300-306
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• 2022

Currently, Korea is building traffic infrastructure using Intelligent Transport Systems (ITS), but the pedestrian traffic accident rate is very high. The purpose of this paper is to prevent the risk of traffic accidents by jaywalking pedestrians. The development of this study aims to detect pedestrians who trespass using the public data set provided by the Artificial Intelligence Hub (AIHub). The data set uses training data: 673,150 pieces and validation data: 131,385 pieces, and the types include snow, rain, fog, etc., and there is a total of 7 types including passenger cars, small buses, large buses, trucks, large trailers, motorcycles, and pedestrians. has a class format of Learning is carried out using YOLOv5 as an implementation model, and as an object detection and edge detection method of an input image, a canny edge model is applied to classify and visualize human objects within the detected road boundary range. In this study, it was designed and implemented to detect pedestrians using the deep learning-based YOLOv5 model. As the final result, the mAP 0.5 showed a real-time detection rate of 61% and 114.9 fps at 338 epochs using the YOLOv5 model.

• Current Optics and Photonics
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• v.7 no.4
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• pp.398-407
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• 2023

We explored a method to evaluate imaging performance for the optimal assembly of an endoscopic miniature lens and a sensor constituting an imaging module at the distal end of gastrointestinal endoscopy. For the assembly of the imaging module, the image sensor was precisely located at the focal plane when collimated light passed through the endoscopic lens. As another method, the distance between the lens and sensor was adjusted to obtain the highest focus index from images measured the star chart of the International Organization for Standardization (ISO) standard at various positions. We analyzed the slanted-edge modulation transfer function (MTF), corresponding depth of field, and number of line pairs for MTF 50% and 20% at each working distance within the range of 5-100 mm for imaging modules assembled in different ways. Assembly conditions of the imaging module with better MTF performance were defined for each working distance range of 5-30 mm and 30-100 mm, respectively. In addition to the MTF performance, the focus index of each assembled module was also compared. In summary, we examined the performance of imaging modules assembled with different methods within the suggested working distance and tried to establish the optimal assembly protocol.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.11
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• pp.2474-2479
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• 2011

As society has developed rapidly toward a highly advanced digital information age, a multimedia communication service for acquisition, transmission and storage of image data as well as voice has being commercialized. However, image data is always corrupted by various noises during image processing, so researches for removing noises have been continued until now. In this paper, in order to remove impulse noise we proposed modified adaptive switching median filter that consists of two stages: noise detection and noise removal. Proposed algorithm only processes noise pixels and these noise pixels are replaced by filter output, so proposed algorithm performs well not only removes noise but also preserves edge information. Also we compare existing methods using PSNR(peak signal to noise ratio) as the standard of judgement of improvement effect and choose conventional algorithms to compare with our proposed method.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.6
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• pp.649-655
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• 2015

In this paper, we propose a defogging algorithm for a single image. Dark channel prior (DCP), which is a well-known defogging algorithm, can cause halo artifacts on boundary regions, low-contrast defogging images, and requires a large computational time. To solve these problems, we use histogram information with DCP on transmission estimation regions and a multi-resolution method. Local histogram information can reduce the low-contrast problem on a defogging image, and the multi-resolution method with edge information can reduce the total computational time and halo artifacts. We validate the proposed method by performing experiments on fog images, and we confirm that the proposed algorithm is more efficient and superior than conventional algorithms.

• Journal of Digital Contents Society
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• v.16 no.4
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• pp.583-593
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• 2015

Today, caused by the growth of computer and communication technology, multimedia, especially image data are being used in different application divisions. JPEG2000 that is widely used these days provides a Region-of-Interest(ROI) technique. The extraction of ROI has to be rapidly executed and automatically extracted in a huge amount of image because of being seen preferentially to the users. For this purpose, this paper proposes a method about preferential processing and automatic extraction of ROI using the distribution of edge in the code block of JPEG2000. The steps are the extracting edges, automatical extracting of a practical ROI, grouping the ROI using the ROI blocks, generating the mask blocks and then quantization, ROI coding which is the preferential processing, and EBCOT. In this paper, to show usefulness of the method, we experiment its performance using other methods, and executes the quality evaluation with PSNR between the images not coding an ROI and coding it.

• Journal of Broadcast Engineering
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• v.16 no.4
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• pp.573-583
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• 2011

In this paper, we propose an occlusion compensation algorithm which is used for virtual view generation. In general, since occlusion region is recovered from neighboring pixels by taking the mean value or median value of neighbor pixels, the visual characteristics of a given image are not considered and consequently the accuracy of the compensated occlusion regions is not guaranteed. To solve these problem, we propose an algorithm that considers primary visual characteristics of a given image to compensate the occluded regions by using seam carving algorithm. In the proposed algorithm, we first use Sobel mask to obtain the edge map of a given image and then make it binary digit 0 or 1 and finally thinning process follows. Then, the energy patterns of original and thinned edge map obtained by the modified seam carving method are used to compensate the occlusion regions. Through experiments with many test images, we verify that the proposed algorithm performed better than conventional algorithms.