• Proceedings of the KSR Conference
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• 2003.10c
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• pp.587-593
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• 2003

There has been much interest in the Bluetooth technology since it could enable users to connect to a wide range of computing and telecommunication devices without the need to carry or connect cables. It delivers opportunities for rapid, ad-hoc connections, and in the future, could possibly enable automatic, unconscious, connections between devices. In this paper, we discussed a scatternet formation protocol for Bluetooth-based ad hoc networks and proposed the identification system of an object using Bluetooth Scatternets. Over the past few years, several studies have been made on the identification of an object by several RF(Radio Frequency) systems. But there are still some problems, the interference of signals as an example, for the identification of an object. The critical question is how to identify an object precisely without the interference of signals. This paper is an investigation of the Scatternet formation protocol for Bluetooth-based ad hoc networks and the identification system of an object using Bluetooth Scatternets composed of multiple Piconets.

• Proceedings of the Korean Information Science Society Conference
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• 2006.06b
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• pp.388-390
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• 2006

This paper presents an object tracking with radical change of color. Conventional Mean Shift do not provide appropriate result when major color distribution disappear. Our tracking approach is based on Mean Shift as basic tracking method. However we propose tracking algorithm that shows good results for an object of radical variation. The key idea is iterative update previous color information of an object that shows different color by using EM algorithm. As experiment results, we show that our proposed algorithm is an effective approach in tracking for a real object include an object having radical change of color.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.678-681
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• 2004

In this paper, efficient tracking of a moving object using optimal representative blocks is implemented by a mobile robot with a pan-tilt camera. The key idea comes from the fact that when the image size of moving object is shrunk in an image frame according to the distance between the camera of mobile robot and the moving object, the tracking performance of a moving object can be improved by changing the size of representative blocks according to the object image size. Motion estimation using Edge Detection(ED) and Block-Matching Algorithm(BMA) is often used in the case of moving object tracking by vision sensors. However these methods often miss the real-time vision data since these schemes suffer from the heavy computational load. In this paper, the optimal representative block that can reduce a lot of data to be computed, is defined and optimized by changing the size of representative block according to the size of object in the image frame to improve the tracking performance. The proposed algorithm is verified experimentally by using a two degree-of-freedom active camera mounted on a mobile robot.

• Proceedings of the KIEE Conference
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• 1995.11a
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• pp.225-227
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• 1995

An object detection algorithm using a modified IDM(Image Differential Method) is proposed for detecting an object in a level crossing area. The conventional object detection method using LASER light has the deadzone that it cannot detect small objects, while the object detection method using image data in a level crossing area can detect such small objects. But the image data in a level crossing area can be changeable easily because the data is outdoor and sensitive to such surrounding environments as the change of the sun beam, the shadow of cars, and so on. So we resolve these problems by adding the normalization and the process for shadow of the image data in a level crossing area to the basic IDM(Image Differential Method).

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 1998.06b
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• pp.183-188
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• 1998

This paper describes the concept of object-based coding for future broadcasting environments. Digital broadcasting uses the MPEG2 coding scheme which is regarded as a picture-based coding. An object-based coding scheme is a potential candidate for future broadcasting both for studio and distribution uses, and it offers a higher compression more flexible content handling. This paper also describes key technologies that we have been developing for the object-based coding, e.g., image analysis, object extraction and coding of objects.

• IEMEK Journal of Embedded Systems and Applications
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• v.19 no.1
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• pp.65-71
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• 2024

An indirect visual SLAM takes raw image data and exploits geometric information such as key-points and line edges. Due to various environmental changes, SLAM performance may decrease. The main problem is caused by dynamic objects especially in highly crowded environments. In this paper, we propose a robust feature-based visual SLAM, building on ORB-SLAM, via multi-channel dynamic objects estimation. An optical flow and deep learning-based object detection algorithm each estimate different types of dynamic object information. Proposed method incorporates two dynamic object information and creates multi-channel dynamic masks. In this method, information on actually moving dynamic objects and potential dynamic objects can be obtained. Finally, dynamic objects included in the masks are removed in feature extraction part. As a results, proposed method can obtain more precise camera poses. The superiority of our ORB-SLAM was verified to compared with conventional ORB-SLAM by the experiment using KITTI odometry dataset.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.106-111
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• 2011

Video-based detection and tracking of moving objects has been widely used in real-time monitoring systems and a videoconferencing. Also, because object motion tracking can be expanded to Human-computer interface and Human-robot interface, Moving object tracking technology is one of the important key technologies. If we can track a specified object in an environment of multiple moving objects, then there will be a variety of applications. In this paper, we introduce a specified object motion tracking using particle filter. The results of experiments show that particle filter can achieve good performance in single object motion tracking and a specified object motion tracking in an environment of multiple moving objects.

• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.33-41
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• 2017

We present a region-based approach for accurate pose estimation of small mechanical components. Our algorithm consists of two key phases: Multi-view object co-segmentation and pose estimation. In the first phase, we explain an automatic method to extract binary masks of a target object captured from multiple viewpoints. For initialization, we assume the target object is bounded by the convex volume of interest defined by a few user inputs. The co-segmented target object shares the same geometric representation in space, and has distinctive color models from those of the backgrounds. In the second phase, we retrieve a 3D model instance with correct upright orientation, and estimate a relative pose of the object observed from images. Our energy function, combining region and boundary terms for the proposed measures, maximizes the overlapping regions and boundaries between the multi-view co-segmentations and projected masks of the reference model. Based on high-quality co-segmentations consistent across all different viewpoints, our final results are accurate model indices and pose parameters of the extracted object. We demonstrate the effectiveness of the proposed method using various examples.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.41 no.4
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• pp.113-120
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• 2004

In this paper, we propose an efficient feature extraction and image retrieval algorithm for content-based retrieval method. First, we extract the object using Gaussian edge detector for input image which is key frames of MPEG video and extract the object features that are location feature, distributed dimension feature and invariant moments feature. Next, we extract the characteristic color feature using the proposed HAQ(Histogram Analysis md Quantization) algorithm. Finally, we implement an retrieval of four features in sequence with the proposed matching method for query image which is a shot frame except the key frames of MPEG video. The purpose of this paper is to propose the novel content-based image retrieval algerian which retrieves the key frame in the shot boundary of MPEG video belonging to the scene requested by user. The experimental results show an efficient retrieval for 836 sample images in 10 music videos using the proposed algorithm.

• The KIPS Transactions:PartC
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• v.11C no.7 s.96
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• pp.999-1008
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• 2004

The Jini system provides an infrastructure to facilitate a programmer to develop distributed systems. As one of the Jini services, JavaSpare has been used as a repository which is accessible publicly in the Java distributed environment. Although JavaSpace could give a useful method for saving and sharing java object, it would not be applicable to develop a distributed system requiring access securities for the objects because JavaSpare does not support secure access control. In this paper, we present a secure JavaSpare service based on Jini2.0 named SeureJS, which strengthens the security weakness of JavaSpare. The system consists of ObjectStore to store Java objects, AccessManager to control access of ObjectStore and KeyManager to manage public keys.