• Journal of Korea Multimedia Society
• /
• v.15 no.11
• /
• pp.1358-1368
• /
• 2012

A tag sequence estimation scheme is to estimate the physical sequence of passive RFID tags that are linearly spread using the movement of a RFID reader. Since RFID readers communicate with the passive tags by very weak radio waves, scanning passive tags are unstable. In this paper, we applied round-trip scanning of a reader to enhance the tag sequence estimation. Proposed scheme first determines the turning point of the reader movement, and then estimates the sequence of the tags using the tag sets scanned in each read cycles. Test experiments show that the proposed scheme can improve the estimation accuracy.

• Journal of the Korean Society for Precision Engineering
• /
• v.31 no.4
• /
• pp.319-326
• /
• 2014

Accurate estimation of the robot's position has an important role in autonomous navigation. Odometry is one of the most widely used techniques for mobile robot positioning. However, odometry has a well-known drawback that the position errors are accumulated when the travel distance increases. The UMBmark method is the conventional odometry calibration scheme for two wheel differential mobile robots. In the UMBmark method, the approximations for small angles are used in order to simplify the calculations. In this paper, we propose the new calibration scheme by using experimental orientation errors. Kinematic parameters can be calculated accurately without approximations by using experimental orientation errors. The numerical simulation and experimental results show that the odometry accuracy can be improved by the proposed method.

• ETRI Journal
• /
• v.29 no.4
• /
• pp.430-436
• /
• 2007

An OFDM/offset QAM (OQAM)-IOTA system uses the isotropic orthogonal transform algorithm (IOTA) function, which has good localization properties in the time and frequency domains. This is employed instead of the guard interval used in a conventional OFDM/QAM system in order to be robust for multi-path channels. However, the conventional channel estimation scheme is not valid for an OFDM/OQAM-IOTA system due to the intrinsic inter-symbol interference of the IOTA function. In this paper, a condition is derived to reduce the intrinsic interference of the IOTA function. This condition is obtained with the proposed pilot structure used for perfect channel estimation. We also derive the preamble structure appropriate for practical channel estimation of the OFDM/OQAM-IOTA system. Simulation results show that the OFDM/OQAM-IOTA system with the proposed preamble structure performs better than the conventional OFDM system, and it has the additional advantage of an increased data transmission rate which corresponds to the guard interval retrieval.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.25 no.7A
• /
• pp.1037-1043
• /
• 2000

In this paper we present an object-based watermarking scheme, which cuts out several featured portions from an image and casts chaotic sequences as a watermark into the extracted object image in the discrete wavelet domain with respect to the models of the human visual system. In such a way we can insert watermark to several objects of an image separately. Advantages of the proposed scheme include that it can protect featured object out of an image selectively as well as entire image and casts watermark sequences according to human visual masking utilizing the time-frequency localization property of the wavelet transform.

• The KIPS Transactions:PartD
• /
• v.15D no.4
• /
• pp.581-588
• /
• 2008

Old films or photographs usually have damages from physical or chemical effects, and the damage and digitalization make stain, scratch, scribbling, noise, and digital drop out in frames. Damages include global damage and local damage, and it is well known that local damage restoration is a main factor for improving image quality. Previous researches have focused on impairment localization (esp. for line scratch impairments) and restoration techniques for line scratch, dirt, blob, and intentional scratch. Inpainting is a key technique using partial derivatives to restore damages in images. It does not show good quality for the complex images because it is based on finite order for partial derivatives, and it takes much time complexity. In this paper, we present a modified inpainting scheme, where we use Sobel edge operator's and angle to compute isophotes, and compare our scheme with Bertalmio's scheme. We experiment our scheme with two old Korean films, and Simulation results show that our scheme requires smaller time complexity than Bertalmio's scheme with comparable reconstructed image quality.

• International Journal of Control, Automation, and Systems
• /
• v.4 no.2
• /
• pp.204-216
• /
• 2006

Latest advances in hardware technology and state of the art of mobile robot and artificial intelligence research can be employed to develop autonomous and distributed monitoring systems. And mobile service robot requires the perception of its present position to coexist with humans and support humans effectively in populated environments. To realize these abilities, robot needs to keep track of relevant changes in the environment. This paper proposes a localization of mobile robot using the images by distributed intelligent networked devices (DINDs) in intelligent space (ISpace) is used in order to achieve these goals. This scheme combines data from the observed position using dead-reckoning sensors and the estimated position using images of moving object, such as those of a walking human, used to determine the moving location of a mobile robot. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Using the a priori known path of a moving object and a perspective camera model, the geometric constraint equations that represent the relation between image frame coordinates of a moving object and the estimated position of the robot are derived. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot, and the Kalman filtering scheme is used to estimate the location of moving robot. The proposed approach is applied for a mobile robot in ISpace to show the reduction of uncertainty in the determining of the location of the mobile robot. Its performance is verified by computer simulation and experiment.

• Journal of Ocean Engineering and Technology
• /
• v.23 no.2
• /
• pp.58-68
• /
• 2009

The increased use of unmanned underwater vehicles (UUV) has led to the development of alternative navigational methods that do not employ acoustic beacons and dead reckoning sensors. This paper describes a simultaneous localization and mapping (SLAM) scheme that uses range sonars mounted on a small UUV. A SLAM scheme is an alternative navigation method for measuring the environment through which the vehicle is passing and providing the relative position of the UUV. A technique for a SLAM algorithm that uses several ranging sonars is presented. This technique utilizes an unscented Kalman filter to estimate the locations of the UUV and surrounding objects. In order to work efficiently, the nearest neighbor standard filter is introduced as the data association algorithm in the SLAM for associating the stored targets returned by the sonar at each time step. The proposed SLAM algorithm was tested by experiments under various three degrees of freedom motion conditions. The results of these experiments showed that the proposed SLAM algorithm was capable of estimating the position of the UUV and the surrounding objects and demonstrated that the algorithm will perform well in various environments.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.36 no.2C
• /
• pp.112-118
• /
• 2011

In this paper, we conduct an objective performance analysis of the crosstalk cancellation scheme studied in [11]. While the conventional scheme is only applicable to a listener on the optimal listenable region (sweetspot), the space skew/crosstalk cancellation (SS/CC) scheme in [11] can mitigate crosstalk regardless of the listener's position by using listener position tracking (LPT) system. The SS/CC scheme is composed of two parts: LPT-based SS and CC parts. In this paper, the SS/CC scheme is evaluated by some criteria such as follows: condition number, and the balance characteristic, its root mean square error, and running average.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2033-2038
• /
• 2003

This paper describes an integrated navigation strategy for the autonomous service robot PSR. The PSR is under development at the KIST for service tasks in indoor public environments. The PSR is a multi-functional mobile-manipulator typed agent, which works in daily life. Major advantages of proposed navigation are as follows: 1) Structured control architecture for a systematic integration of various software modules. A Petri net based configuration design enables stable control flow of a robot. 2) A range sensor based generalized scheme of navigation. Any range sensor can be selectively applied using the proposed navigation scheme. 3) No need for modification of environments. (No use of artificial landmarks.) 4) Hybrid approaches combining reactive behavior as well as deliberative planner, and local grid maps as well as global topological maps. A presented experimental result shows that the proposed navigation scheme is useful for mobile service robot in practical applications.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.250-255
• /
• 2005

For navigation of a service robot, mapping and localization are very important. To estimate the robot pose, the map of the environment is required and it can be built by exploration or SLAM. Exploration is the fundamental task of guiding a robot autonomously during mapping such that it covers the entire environment with its sensors. In this paper, an efficient exploration scheme based on the position probability of the end nodes of a topological map is proposed. In this scheme, a topological map is constructed in real time using the thinning-based approach. The robot then updates the position probability of each end node maintaining its position at the current location based on the Bayesian update rule using the range data. From this probability, the robot can determine whether or not it needs to visit the specific end node to examine the environment around this node. Various experiments show that the proposed exploration scheme can perform exploration more efficiently than other schemes in that, in most cases, exploration for the entire environment can be completed without directly visiting everywhere in the environment.