• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.388-393
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• 1990

A robot manipulator and an obstacle are described mathematically in joint space, with the mathematical representation for the collision between the robot manipulator and the obstacle. Using these descriptions, the robot motion planning problem is formulated which can be used to avoide a time varying obstacle. To solve the problem, the constraints on motion planning are discretized in joint space. An analytical method is proposed for planning the motion in joint space from a given starting point to the goal point. It is found that solving the inverse kinematics problem is not necessary to get the control input to the joint motion controller for collision avoidance.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.9
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• pp.538-545
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• 2000

In this paper we proposed a new map construction and path planning method for mobile robot. In our proposed method first we introduced triangular representation map that mobile robot can navigate through shorter path and flexible motion instead of grid representation map for mobile robot navigation. method in which robot can navigate complete space through as short path as possible in unknown environment is proposed. Finally we proposed new path planning method in a quadtree representation map. To evaluate the performance of our proposed new path planning method in a quadtree representation map. To evaluate the performance of our proposed triangular representation map it was compared with the existing distance transform path planning method. And we considered complete coverage navigation and new path planning method through several examples.

• Journal of Korea Multimedia Society
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• v.8 no.4
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• pp.566-574
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• 2005

In spite of recent increase in the use of avatar in Web and Virtual Reality, there has not been a service that allows users to control directly the avatar behaviors. In addition, the conventional behavior control languages required a lot of complicated information for controlling the avatar motions. Moreover, in order to apply written languages to a different task domain, it was necessary to modify or rewrite the languages. In this paper, we define Task-Level Behavior Description Language and Motion Representation Language for more simple control of the avatar behavior. The first thing allows describing the avatar behaviors in each task domain, and The second thing enables writing detailed data for motion control. And in this paper, we developed an interpreter which can automatically change the Behavior Description Language to the Motion Representation Language. So this system allow users control the avatar behavior simply with only use the Behavior Description Language. The system was applied to shopping mall and the Task-level Behavior Description Language was compared with conventional languages to see how it was more effective in behavior description.

• Journal of Korea Multimedia Society
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• v.9 no.8
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• pp.1067-1075
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• 2006

This paper proposes a advanced representation method of hand motion by cheremes analysis in korean sign language. The proposed method is the representation method which apply to the hand motion used in KSL(Korean Sign Language) to represent rich and united hand motion. Words or sentences in KSL are completed by combination of elements called as Cheremes, that is, a hand movement orientation, a finger shape, a hand position, etc. In this paper, Cheremes composing the KSL is divided and represented by 5 elements: the hand movement orientation(HMO), finger shape(FS), hand orientation(HO), hand position(HP) and number of using hand (HN). Each cheremes is expressed by more various characteristics. For example, The hand movement orientation means orientations which the hand move while the sign language is done and can be expressed by 17orientation components. The finger shape means various shapes which fingers can take and represented by 17 components. The Orientation of hand is expressed by 2 characteristics according to whether we use the palm of the hand or the back. The position of hand means specific regions in body which hand(s) is placed while the sign language is done and divided by 8 regions. Finally, the number of hand means whether use only one hand or both hands and is expressed by 2 characteristics. The proposed method has been tested with KSL words and sentences and the results have shown that they can be expressed completely by the proposed representation method.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.764-767
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• 2009

Motion capture systems allow to measure the precise position of markers on the human body in real time. These captured motion data, the marker position data, have to be fitted by a human skeleton model to represent the motion of the human. Typical human skeleton models approximate the joints using a ball joint model. However, because this model cannot represent the human skeleton precisely, errors between the motion data and the movements of the simplified human skeleton model happen. We propose in this paper a method for measuring a translation component of wrist, and elbow joints on upper limb using optical motion capture system. Then we study the errors between the ball joint model and acquired motion data. In addition, we discuss the problem to estimate motion of human joint using optical motion capture system.

• Proceedings of the Korean Information Science Society Conference
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• 2004.10b
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• pp.694-696
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• 2004

With the more sophisticated abilities development of video, object motion analysis and interpretation has become the fundamental task for the computer vision understanding. For that understanding, firstly, we seek a sum of absolute difference algorithm to apply to the motion detection, which was based on the scene. Then we will focus on the moving objects representation in the scene using spatio-temporal relations. The video can be explained comprehensively from the both aspects : moving objects relations and video events intervals.

• Proceedings of the Korean Information Science Society Conference
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• 2000.04b
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• pp.110-112
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• 2000

이미지와는 달리, 비디오 데이터는 객체에 대한 움직임 정보(motion trajectory)를 가지고 있으며, 이러한 움직임 정보는 비디오 데이터만이 가지는 매우 중요한 특징으로 비디오 데이터에 대한 색인과 내용 기반 검색을 수행하는 데 있어 중요한 역할을 한다. 따라서, 본 논문에서는 비디오 데이터베이스에서 효율적인 내용기반 검색을 위해 하나의 객체에 대한 움직임 정보를 나타내는 single motion trajectory와 두 객체에 대한 움직임 정보를 나타내는 multiple motion trajectory를 위한 새로운 시공간 표현 기법을 제안한다. 아울러, 움직임 정보에 대한 사용자 질의에 대해 유사성을 측정하여 순위부여와 Time Interval을 지원하는 새로운 유사성 측정 알고리즘인 SIST와 SIMT를 제안한다.

• Journal of the Korean Statistical Society
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• v.33 no.4
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• pp.459-470
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• 2004

We study the approximation of the solution of linear stochastic evolution equations driven by infinite-dimensional fractional Brownian motion with Hurst parameter H > 1/2 through discretization of space and time. The rate of convergence of an approximation for Euler scheme is established.

• Journal of Information Processing Systems
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• v.19 no.3
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• pp.370-376
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• 2023

Aiming at the problems of low image enhancement accuracy, long enhancement time and poor image quality in the traditional robot sequence motion image enhancement methods, an adaptive enhancement method for robot sequence motion image is proposed. The feature representation of the image was obtained by Karhunen-Loeve (K-L) transformation, and the nonlinear relationship between the robot joint angle and the image feature was established. The trajectory planning was carried out in the robot joint space to generate the robot sequence motion image, and an adaptive homomorphic filter was constructed to process the noise of the robot sequence motion image. According to the noise processing results, the brightness of robot sequence motion image was enhanced by using the multi-scale Retinex algorithm. The simulation results showed that the proposed method had higher accuracy and consumed shorter time for enhancement of robot sequence motion images. The simulation results showed that the image enhancement accuracy of the proposed method could reach 100%. The proposed method has important research significance and economic value in intelligent monitoring, automatic driving, and military fields.

• The KIPS Transactions:PartB
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• v.11B no.1
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• pp.53-62
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• 2004

The processing of emotional information is very important in Human-Computer Interaction (HCI). In particular, it is very important in video information processing to deal with a user's affection. To handle emotional information, it is necessary to represent meaningful features and detect them efficiently. Even though it is not an easy task to detect emotional events from low level features such as colour and motion, it is possible to detect them if we use statistical analysis like Linear Discriminant Analysis (LDA). In this paper, we propose a representation scheme for emotion-related features and a defection method. We experiment with extracted features from video to detect emotional events and obtain desirable results.