• IEIE Transactions on Smart Processing and Computing
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• 제6권4호
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• pp.237-245
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• 2017

This paper presents a fire detection algorithm using color and motion models from video sequences. The proposed method detects change in color and motion of overall regions for detecting fire, and thus, it can be implemented in both fixed and pan/tilt/zoom (PTZ) cameras. The proposed algorithm consists of three parts. The first part exploits color models of flames and smoke. The candidate regions in the video frames are extracted with the hue-saturation-value (HSV) color model. The second part models the motion information of flames and smoke. Optical flow in the fire candidate region is estimated, and the spatial-temporal distribution of optical flow vectors is analyzed. The final part accumulates the probability of fire in successive video frames, which reduces false-positive errors when fire-like color objects appear. Experimental results from 100 fire videos are shown, where various types of smoke and flames appear in indoor and outdoor environments. According to the experiments and the comparison, the proposed fire detection algorithm works well in various situations, and outperforms the conventional algorithms.

• International Journal of Aeronautical and Space Sciences
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• 제16권1호
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• pp.77-88
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• 2015

The dynamics of relative motion in a perturbed orbital environment are exploited based on Gauss' and Cowell's variational equations. The inertial coordinate frame and relative coordinate frame (Hill frame) are used, and a linear high fidelity model is developed to describe the relative motion. This model takes into account the primary gravitational and atmospheric drag perturbations. Then, this model is used in the design of a navigation, guidance, and control system of a chaser vehicle to approach towards and to depart from a target vehicle in proximity operations. Relative navigation uses an extended Kalman filter based on this relative model to estimate the relative position/velocity of the chaser vehicle with respect to the target vehicle. This filter uses the range and angle measurements of the target relative to the chaser from a simulated LIDAR system. The corresponding measurement models, process noise matrix, and other filter parameters are provided. Numerical simulations are performed to assess the precision of this model with respect to the full nonlinear model. The analyses include the navigation errors and trajectory dispersions.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• 제18권2호
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• pp.181-192
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• 2014

In this paper, we propose a robust real-time myocardial border tracking algorithm for echocardiography. Commonly, after an initial contour of LV border is traced at one or two frame from the entire cardiac cycle, LV contour tracking is performed over the remaining frames. Among a variety of tracking techniques, optical flow method is the most widely used for motion estimation of moving objects. However, when echocardiography data is heavily corrupted in some local regions, the errors bring the tracking point out of the endocardial border, resulting in distorted LV contours. This shape distortion often occurs in practice since the data acquisition is affected by ultrasound artifacts, dropout or shadowing phenomena of cardiac walls. The proposed method deals with this shape distortion problem and reflects the motion realistic LV shape by applying global deformation modeled as affine transform partitively to the contour. We partition the tracking points on the contour into a few groups and determine each affine transform governing the motion of the partitioned contour points. To compute the coefficients of each affine transform, we use the least squares method with equality constraints that are given by the relationship between the coefficients and a few contour points showing good tracking results. Many real experiments show that the proposed method supports better performance than existing methods.

• 한국과학교육학회지
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• 제17권4호
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• pp.383-393
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• 1997

In order to study the effect of student's conceptions about force and motion into the graph construction in kinematics in college physics course, the tasks of constructing the qualitative graph in the similar problem context used in force conception was asked to the first 74 and third 97 student teacher in teachers' university. The frequencies analysis showed that student teachers had the naive conceptions that the throwing force was still acted to a upwarding ball. They also had the popular Aristotelian views about motion. These naive conceptions coexisted with the scientific conception about gravitational force. In a simple pendulum problem no one had the correct acceleration concepts which varies the direction in swing. This result suggest that student teacher had more difficulties in a acceleration problem than in a velocity problem In v-t and a-t graph construction tasks, the number of categories of a-t graphs were more than that of v-t graphs. There were many graph errors in a sign of velocity and acceleration. The acceleration conceptions without the relations of changes in velocity made the kinematics graphs more various shapes. The force and motion conceptions influenced the ability to construct the kinematics graphs.

• 한국멀티미디어학회논문지
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• 제5권1호
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• pp.28-37
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• 2002

본 논문에서는 계산량의 증가가 없이 MPEG 코덱 에 사용되 어 블로킹 현상 등 복원 영상에서 의 화질 열화를 개선하는 새로운 방법들을 제안한다. 먼저 움직임 탐색 및 보상 과정에 2단계 MAD 움직임 탐색 방법을 제안하여 탐색 계산량을 줄이고 블록의 경계 부분의 화소의 왜곡을 줄였다. 또한 줄어든 계산량을 이용하여 블록 경계 너머의 화소를 탐색에 이용하는 중첩 2단계 MAD움직임 탐색 방법을 제안하였다. 인트라 블록에 대한 DCT/양자화 과정에서는 먼저 복원된 블록의 인접 화소들을 이용하여 적응적으로 양자화 함으로써 블록간 화소의 연속성을 높이는 1차원 DCT 추정 양자화 방법과 화소타 추정 양자화 방법을 제안하였다. 모의 실험 결과 제안한 방법은 일반적인 MPEG에 비해 블로킹 현상을 줄여서 개선된 복원 화질을 보였다

• 한국인공지능학회지
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• 제9권2호
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• pp.35-40
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• 2021

In this paper, many game companies seek better optimization and easy-to-apply logic to prolong the game's lifespan and provide a better game environment for users. Therefore, research will be showing the game's key input response method called RoS (Response of Speed). The purpose of the method is to simultaneously perform various motions with the character showing natural motion without errors even if the character's control key is duplicated. This method is for the developers so they can reduce bugs and development time in future game development. To be used with quickly generating game environments, the new method compares with the popular motion method, so which method is faster and can adapt to diverse games. The paper suggested that the Response of Speed method is a better method for optimizing frames and reducing the number of reacting seconds by showing a faster response and speed). With the method popularity of scrollers, many 2D cross-scroll games follow the formula of Dash, Shoot, Walk, Stay, and Crouch. With the development of game engines, it is becoming easier to implement them. Therefore, although the method presented in the above paper differs from the popular method, it is expected that there will be no great difficulty in applying it to the game because transplantation is easy. In the future, we plan to study to minimize the delay of each connection of the character motion so that the game can be optimized to best.

• 정보처리학회논문지D
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• 제14D권7호
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• pp.801-808
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• 2007

MPEG-2, MPEG-4, H.263, H.264 와 같은 부호화 표준은 비디오 영상을 압축하여 대역폭이 제한된 유/무선 통신 시스템을 통하여 전송한다. 통신 시스템에서 고압축률의 비트스트림은 채널 잡음 (channel noise)에 민감하여, 채널 잡음으로 인한 오류가 발생하기 쉽다. 이러한 오류는 수신부에서 디코딩할 때 비디오 영상을 심각하게 왜곡시키게 된다. 본 논문에서는 수신부 단에서 오류를 복원하는 기법 (decoder error concealment) 중 손상된 움직임벡터를 복원하는 기법을 제안한다. 본 논문에서는 손실된 움직임벡터를 예측하기 위하여 인접 블록들의 움직임 벡터를, 예측필터의 일종인 칼만 필터의 입력 치로 사용하여, 손실된 움직임벡터의 최적 예상치를 만들어 손상된 움직임벡터를 복구하게 된다. H.264 비디오 코딩을 적용한 표준 테스트 영상에 대하여, 손실된 MVD (motion vector difference) 값을 0 으로 대체한 뒤, H.264 비디오 코딩에서 사용하고 있는 기본 움직임벡터 예측만을 사용한 경우와 본 논문에서 제안한 칼만 필터를 사용한 복원기법을 비교하였으며, 복원된 움직 임벡터와 원래 움직임벡터 값과의 차이를 나타내는 오차율을 비교한 결과 제안된 기법의 오차율이 평균 0.91 - 1.12 정도의 정확도가 향상된 것을 확인할 수 있다.

• 한국컴퓨터정보학회논문지
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• 제24권10호
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• pp.33-39
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• 2019

본 논문에서는 인체의 활동량을 측정하기 위해 가속도 센서로 부터 얻은 운동신호를 파라미터로 모델링 하는 방법을 제안한다. 상체와 하체의 움직임이 동시에 일어나지 않는 경우, 현재의 단체널 방식의 운동량 분석방법은 많은 오차를 수반하게 된다. 본 연구에서는 3축 가속도 센서를 팔과 다리에 부착하고 인체의 활동을 측정한 후, 각 채널 별로 팔과 다리의 운동량을 계산하고, 채널별로 선형예측계수를 얻는다. 또한, 상체와 하체운동간의 교차상관도를 측정함으로써 상체와 하체의 주기성을 판단하게 된다. 선형예측계수와 주기 값은 운동의 종류와 이에 따른 운동량을 측정하는 자료로 이용하게 된다. 결과에서 제안한 방법의 유효성을 확인하기 위해 계단내려가기, 계단오르기, 언덕오르기, 언덕내려가기 등의 4가지 운동을 측정하여, 제시한 파라미터 모델의 유용성을 확인한다.

• 한국항공우주학회지
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• 제47권8호
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• pp.566-573
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• 2019

항공 SAR에서 고품질의 영상을 얻기 위해서는 영상 획득 구간에서 항공기의 요동을 정확히 측정하여야 한다. 특히 요동측정을 할 때 상대적 위치오차 및 불연속성 오차를 줄여야 한다. 이를 해결하기 위해 본 논문에서는 합성 개구 레이더(SAR)에서 실시간으로 요동측정을 하는 매개변수 사전 오차 모델링 방법(P-PEM, Pre-Parametric Error Modeling)을 제안한다. P-PEM은 기존에 본 연구진에서 제안한 항법오차를 다항식으로 모델링하여 추정하는 매개변수 오차 모델링 기법(PEM, Parametric Error Modeling)에서 확장된 기법이다. PEM은 IMU에 의한 INS 오차를 짧은 시간 동안 다항식이라 가정하여 모델링하는 요동측정기법이다. 반면, P-PEM은 다항식 오차 모델의 계수를 미리 추정하고 영상촬영단계에서 사용한다. 시뮬레이션 결과, P-PEM을 적용하면 실시간으로 불연속성 오차를 제거한 요동측정이 가능함을 확인하였다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2003년도 춘계학술대회 논문집
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• pp.149-156
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• 2003

This paper presents an underwater hybrid navigation system for a semi-autonomous underwater vehicle (SAUV). The navigation system consists of an inertial measurement unit (IMU), an ultra-short baseline (USBL) acoustic navigation sensor and a doppler velocity log (DVL) accompanying a magnetic compass. The errors of inertial measurement units increase with time due to the bias errors of gyros and accelerometers. A navigational system model is derived to include the error model of the USBL acoustic navigation sensor and the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 25 in the order. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors and correct the state equation when the measurements are available. Simulation was performed with the 6-d.o.f. equations of motion of SAUV in a lawn-mowing survey mode. The hybrid underwater navigation system shows good tracking performance by updating the error covariance and correcting the system's states with the measurement errors from a DVL, a magnetic compass and a depth senor. The error of the estimated position still slowly drifts in horizontal plane about 3.5m for 500 seconds, which could be eliminated with the help of additional USBL information.