• Journal of Information Processing Systems
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• v.15 no.1
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• pp.67-90
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• 2019

Accurate detection, tracking and analysis of human movement using robots and other visual surveillance systems is still a challenge. Efforts are on to make the system robust against constraints such as variation in shape, size, pose and occlusion. Traditional methods of detection used the sliding window approach which involved scanning of various sizes of windows across an image. This paper concentrates on employing a state-of-the-art, hierarchical graph based method for segmentation. It has two stages: part level segmentation for color-consistent segments and object level segmentation for category-consistent regions. The tracking phase is achieved by employing SIFT keypoint descriptor based technique in a combined matching and tracking scheme with validation phase. Localization of human region in each frame is performed by keypoints by casting votes for the center of the human detected region. As it is difficult to avoid incorrect keypoints, a consensus-based framework is used to detect voting behavior. The designed methodology is tested on the video sequences having 3 to 4 persons.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.8
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• pp.31-37
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• 2016

Ranging is divided into a synchronous scheme and an asynchronous scheme according to the presence of global synchronization between nodes. In general, the asynchronous ranging is preferred over synchronous ranging because it does not require an expensive high-precision oscillator for the global synchronization. On the other hand, in a conventional asynchronous ranging scheme, the packets, which are generated by all nodes in a positioning system of a large-scale infrastructure and need to be sent for localization by reference nodes, are considerable, which cause an increase in network traffic as the number of nodes increases. The traffic congestion lowers the throughput of the network leading to a considerable loss of energy. To solve this problem, this paper proposes a ranging scheme, in which virtual transmission slots randomly and discretely selected by a plurality of nodes are used to reduce the overheads needed in synchronizing the nodes, and the ranging is performed asynchronously based on the virtual transmission slots, thereby decreasing the network traffic. In addition, a performance test proved that the proposed ranging scheme was stronger than the TWR and SDS-TWR on an error range, even though the intensity of traffic was very low.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.174-179
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• 2003

Through the simultaneous localization and map building (SLAM) technique, a robot can create maps about its unknown environment while it continuously localizes its position. Grid maps and feature maps have been widely used for SLAM together with application of probability methods and POMDP (partially observed Markov decision process). But this approach based on grid maps suffers from enormous computational burden. Topological maps, however, have drawn more attention these days because they are compact, provide natural interfaces, and are easily applicable to path planning in comparison with grid maps. Some topological SLAM techniques like GVG (generalized Voronoi diagram) were introduced, but it enables the robot to decide only whether the current position is part of GVG branch or not in the GVG algorithm. In this paper, therefore, to overcome these problems, we present a method for updating a global topological map from the local topological maps. These local topological maps are created through a labeled Voronoi diagram algorithm from the local grid map built based on the sensor information at the current robot position. And the nodes of a local topological map can be utilized as the features of the environment because it is robust in light of visibility problem. The geometric information of the feature is applied to the extended Kalman filter and the SLAM in the indoor environment is accomplished. A series of simulations have been conducted using a two-wheeled mobile robot equipped with a laser scanner. It is shown that the proposed scheme can be applied relatively well.

• Atmosphere
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• v.20 no.3
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• pp.287-306
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• 2010

An ensemble Kalman filter (EnKF) with Weather Research and Forecasting (WRF) Model is applied for Typhoon Wukong (200610) to investigate the performance of ensemble forecasts depending on experimental configurations of the EnKF. In addition, the ensemble sensitivity analysis is applied to the forecast and analysis ensembles generated in EnKF, to investigate the possibility of using the ensemble sensitivity analysis as the adaptive observation guidance. Various experimental configurations are tested by changing model error, ensemble size, assimilation time window, covariance relaxation, and covariance localization in EnKF. First of all, experiments using different physical parameterization scheme for each ensemble member show less root mean square error compared to those using single physics for all the forecast ensemble members, which implies that considering the model error is beneficial to get better forecasts. A larger number of ensembles are also beneficial than a smaller number of ensembles. For the assimilation time window, the experiment using less frequent window shows better results than that using more frequent window, which is associated with the availability of observational data in this study. Therefore, incorporating model error, larger ensemble size, and less frequent assimilation window into the EnKF is beneficial to get better prediction of Typhoon Wukong (200610). The covariance relaxation and localization are relatively less beneficial to the forecasts compared to those factors mentioned above. The ensemble sensitivity analysis shows that the sensitive regions for adaptive observations can be determined by the sensitivity of the forecast measure of interest to the initial ensembles. In addition, the sensitivities calculated by the ensemble sensitivity analysis can be explained by dynamical relationships established among wind, temperature, and pressure.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.30 no.7
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• pp.68-80
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• 2002

An approach for composing a performance optimized computational code is suggested for latest microprocessors. The concept of the code optimization, called here as localization, is maximizing the utilization of the second level cache that is common to all the latest computer system, and minimizing the access to system main memory. In this study, the localized optimization of LU-SGS (Lower-Upper Symmetric Gauss-Seidel) code for the solution of fluid dynamic equations was carried out in three different levels and tested for several different microprocessor architectures most widely used in these days. The test results of localized optimization showed a remarkable performance gain up to 7.35 times faster solution, depending on the system, than the baseline algorithm for producing exactly the same solution on the same computer system.

• Journal of Korean Society for Geospatial Information Science
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• v.21 no.3
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• pp.55-62
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• 2013

This paper aims to detect Speed Bump by using Omni-directional Camera and to suggest Real-time update scheme of Speed Bump through Vision Based Approach. In order to detect Speed Bump from sequence of camera images, noise should be removed as well as spot estimated as shape and pattern for speed bump should be detected first. Now that speed bump has a regular form of white and yellow area, we extracted speed bump on the road by applying erosion and dilation morphological operations and by using the HSV color model. By collecting huge panoramic images from the camera, we are able to detect the target object and to calculate the distance through GPS log data. Last but not least, we evaluated accuracy of obtained result and detection algorithm by implementing SLAMS (Simultaneous Localization and Mapping system).

• Journal of the Optical Society of Korea
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• v.19 no.5
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• pp.467-476
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• 2015

Finger vein recognition, which is a promising biometric method for identity authentication, has attracted significant attention. Considerable research focuses on transmission-type finger vein recognition, but this type of authentication is difficult to implement in mobile consumer devices. Therefore, reflection-type finger vein recognition should be developed. In the reflection-type vein recognition field, the majority of researchers concentrate on palm and palm dorsa patterns, and only a few pay attention to reflection-type finger vein recognition. Thus, this paper presents reflection-type finger vein recognition for biometric application that can be integrated into mobile consumer devices. A database is built to test the proposed algorithm. A novel method of region-of-interest localization for a finger vein image is introduced, and a scheme for effectively extracting finger vein features is proposed. Experiments demonstrate the feasibility of reflection-type finger vein recognition.

• Journal of the Korea Society of Computer and Information
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• v.16 no.7
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• pp.25-34
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• 2011

In this paper, we propose a new golf putting training system which we call "X-Putt". X-Putt analyzes putting strokes by measuring putter face angle and path. To do this, we improved the sonar-based localization scheme used by previous localization techniques. As a result, X-Putt can measure putter's location within the error range, ${\pm}0.9cm$ and putter face angle within ${\pm}1.5^{\circ}$. Additionally, we built an user application that has an easy-to-use interface for analyzing the strokes after training.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.30 no.12A
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• pp.1153-1160
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• 2005

OFDM/OQAM(Offset QAM)-IOTA system requires the IOTA(Isotropic Orthogonal Transform Algorithm) function that has superior localization property in time and frequency domain instead of guard interval used for conventional OFDM/QAM system to be robust to multipath channel. Therefore, OFDM/OQAM-IOTA system has more spectral efficiency than conventional OFDM/QAM system. But, when channel estimation scheme for conventional OFDM/QAM system is applied straightforwardly to OFDM/OQAM-IOTA system, an intrinsic Inter- symbol-Interference is observed. So suitable preamble structure for the channel estimation scheme of OFDM/OQAM-IOTA system is required. In this paper, we propose a new preamble structure that is appropriate to OPDM/OQAM-IOTA system and then perform ideal channel estimation and practical channel estimation in low-to-medium mobile speed and compare them with conventional OFDM/QAM system. Simulation results show that OFDM/OQAM-IOTA system with proposed preamble structure has 1.5 dB Eb/NO gain on Target BER $10^{-3}$ and about $25\%$ transmission rate gain against the conventional OFDM/QAM system considering quarter of FFT size as guard interval size.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.41 no.8
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• pp.986-994
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• 2016

In this paper, we proposed ultrasonic radar module and fixed module for the 2D indoor map building and from each of the modules, we can see the possibilities, limitations and considerations. And finally show the result of building actual 2D indoor map from the modules. Recently there are lots of works for the building indoor map by spotlight on the simultaneous localization and mapping (SLAM). And the LiDAR, ultrasonic, camera sensors are usually used for this work. Especially the LiDAR sensor have a higher resolution and wider detection range more than the ultrasonic sensor, but also there are limitation in the size of module, higher cost, much more throughput of processing data, and weaker to use in various indoor environment noises. So from these reasons, in this paper we could verify that proposed modules and schemes have a enough performance to build the 2D indoor map instead of using LiDAR and camera sensor with minimum number of ultrasonic sensors and less throughput of processing data.