• International Journal of Control, Automation, and Systems
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• 제5권3호
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• pp.251-268
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• 2007

A Gaussian sum filter (GSF) is proposed in this paper on simultaneous localization and mapping (SLAM) for mobile robot navigation. In particular, the SLAM problem is tackled here for cases when only bearing measurements are available. Within the stochastic mapping framework using an extended Kalman filter (EKF), a Gaussian probability density function (pdf) is assumed to describe the range-and-bearing sensor noise. In the case of a bearing-only sensor, a sum of weighted Gaussians is used to represent the non-Gaussian robot-landmark range uncertainty, resulting in a bank of EKFs for estimation of the robot and landmark locations. In our approach, the Gaussian parameters are designed on the basis of minimizing the representation error. The computational complexity of the GSF is reduced by applying the sequential probability ratio test (SPRT) to remove under-performing EKFs. Extensive experimental results are included to demonstrate the effectiveness and efficiency of the proposed techniques.

• 한국통신학회:학술대회논문집
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• 한국통신학회 2006년도 하계종합학술발표회 논문 초록집
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• pp.587-587
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• 2006

• 한국음향학회지
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• 제16권5호
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• pp.68-75
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• 1997

스펙트럼 차감법은 잡음이 더해진 환경에서의 음성인시기에 널리 사용되는 전처리 방법이지만, 이를 위해서는 잡음의 스펙트럼을 잘 추정할 필요가 있다. 본 논문에서는 잡음 스펙트럼의 추정방법으로 히스토그램 처리방법을 사용한다. 이 방법은 음성/비음성 구간의 구분을 할 필요가 없으며 서서히 변화하는 잡음의 스펙트럼도 추정할 수 있다는 점에서 여타의 잡음 추정방법에 비해 장점을 지닌다. 다양한 SNR 조건하에서 유색 가우시안 잡음 및 실제 자동차 소음을 부가시킨 음성에 대해 화자독립 고립단어 인식 실험을 수행한 결과, 히스토그램 처리방법에 기반을 둔 스펙트럼 차감법의 인식성능이 초기 비음성구간의 스펙트럼 평균을 이용한 기존의 잡음 스펙트럼 추정방법에 비해 우수한 성능을 나타내었다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2006년도 춘계학술대회 학술발표 논문집 제16권 제1호
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• pp.245-248
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• 2006

A particle filter is one of the most famous filters. The reason why the particle filter is widely used is that particle deals with the state estimation problem for not only linear models with Gaussian noise but also the non-linear models with non-Gaussian noise and it receives great attention from many engineering fields. In the point of view state estimator, particle filter is feedforward observer. According to the characteristic of dynamic system, the feedforward observer can estimate real state. However, the speed of convergence of feedforward observer between the actual state and the estimated state cannot be satisfied. Since the particle filter is a sort of feedforward observer, the convergence speed of particle filter is slow, and the particle filter cannot estimate actual state like particle collapse problem. In order to overcome the limitation of particle filter as a kind of feedfoward estimator, we propose a new particle filter which has feedback term, called particle filter with feedback. Our proposed method is analyzed theoretically and studied by computer simulation. Comparisons are made with other filtering mehod.

• 한국방사선학회논문지
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• 제13권3호
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• pp.453-458
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• 2019

본 연구에서는 Geant4 application for tomographic emission (GATE) 시뮬레이션 프로그램을 통해 설계 된 male adult mesh (MASH) 팬텀의 영상을 획득한 후 다양한 필터링 인자가 설정된 FNLM 노이즈 제거 알고리즘을 적용함으로써 그에 따른 영상 특성의 경향성을 알아보고자 한다. 이를 위해 GATE 시뮬레이션 프로그램을 통해 인체를 모사할 수 있는 MASH 팬텀을 설계하였다. 또한, 설계된 MASH 팬텀을 기반으로 MATLAB 프로그램을 통해 복부영상을 획득한 후 0.005의 $\sigma$ 값을 갖는 Gaussian noise를 추가하여 열화영상을 모델링하였다. 모델링 된 열화영상으로부터 제안하는 FNLM 노이즈 제거 알고리즘의 필터링 인자를 각각 0.005, 0.01, 0.05, 0.1, 0.5, 1.0 으로 설정하여 적용하였으며, 정량적 평가를 위해 FNLM 노이즈 제거 알고리즘이 적용된 영상들로부터 각각의 coefficient of variation (COV), signal to noise ratio (SNR) 그리고 contrast to noise ratio (CNR)을 측정하였다. 결과적으로, 0.05의 필터링 인자가 적용된 영상에서 가장 개선된 COV, SNR 그리고 CNR 값을 보였다. 특히, COV는 설정된 필터링 인자가 증가함에 따라 감소하였으며, 0.05 값 이후부터 거의 일정한 값을 나타내었다. 또한, SNR 및 CNR의 경우 필터링 인자가 증가함에 따라 증가하였으며, 0.05 값 이후부터 감소하는 경향을 보였다. 결론적으로, 열화 영상으로부터 FNLM 노이즈 제거 알고리즘 적용 시 적합한 필터링 인자를 설정해야 함이 증명되었다.

• 한국통신학회논문지
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• 제31권3C
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• pp.237-244
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• 2006

본 논문에서는 2차원 결합 가우시안 Q-함수(Two-dimensional joint Gaussian Q-function)를 이용하여 AWGN(Additive White Gaussian Noise) 환경에서 M-PSK(M-ary Phase Shift Keying) 신호의 I/Q 위상 불균형(Phase unbalance) 존재 시 수치 적분이 필요 없는 정확하고 일반화된 closed-form 형태의 비트 오류율(Bit Error Rate) 표현을 유도한다. 새롭게 유도된 표현은 평균 BER 뿐만 아니라 k-번째 비트의 BER에 대하여도 일반화된 식으로 되어 있어 다양한 환경으로의 적용이 용이하여 M-PSK를 적용하는 많은 디지털 통신 시스템에서 복조 시 발생할 수 있는 I/Q 위상 불균형에 의한 시스템 성능 변화에 대하여 정확한 이론적 성능 기준을 제공할 것으로 기대된다.

• 한국전자파학회논문지
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• 제21권10호
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• pp.1161-1168
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• 2010

FHSS(Frequency Hopping Spread Spectrum) 방식은 군 통신 시스템에서 재밍(Jamming)에 의한 간섭을 줄이기 위해 사용된다. 하지만 사용되는 변조 방식의 종류, 재밍 신호의 특성에 따른 위성 통신 시스템의 BER 성능이 무선 채널 상태에 따라 어떤 성능 차이를 보이는지 분석되지 않았다. 따라서 본 논문에서는 PBNJ(Partial-Band Noise Jamming)와 WPBJ(Worst case Partial-Band noise Jamming)의 두 가지 재밍 환경에서 NC-MFSK(Non-Coherent M-ary Frequeency-Shift Keying), SDPSK(Symmetric Differential Phase-Shift Keying), GMSK (Gaussian filtered Minimum-Shift Keying)의 세 가지 변조 방식에 따른 위성 통신 시스템의 BER 성능 변화를 분석한다. 또한, 분석된 결과를 이용하여 전송 환경에 따른 최적의 전송 방식을 제안하도록 한다.

• 전기학회논문지
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• 제61권12호
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• pp.1920-1925
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• 2012

In this paper, we propose a novel method to improve the performance of the improved minima controlled recursive averaging (IMCRA) in non-stationary noisy environment. The conventional IMCRA algorithm efficiently estimate the noise power by averaging past spectral power values based on a smoothing parameter that is adjusted by the signal presence probability in frequency subbands. Since the minimum of smoothing parameter is defined as 0.85, it is difficult to obtain the robust estimates of the noise power in non-stationary noisy environments that is rapidly changed the spectral characteristics such as babble noise. For this reason, we proposed the modified IMCRA, which adaptively estimate and updata the noise power according to the noise type classified by the Gaussian mixture model (GMM). The performances of the proposed method are evaluated by perceptual evaluation of speech quality (PESQ) and composite measure under various environments and better results compared with the conventional method are obtained.

• Journal of Electrical Engineering and Technology
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• 제10권4호
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• pp.1886-1898
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• 2015

In today’s era of advanced technological developments, the threats to the authenticity and integrity of digital images, in a nutshell, the threats to the Image Forensics Research communities have also increased proportionately. This happened as even for the ‘non-expert’ forgers, the availability of image processing tools has become a cakewalk. This image forgery poses a great problem for judicial authorities in any context of trade and commerce. Block matching based image cloning detection system is widely researched over the last 2-3 decades but this was discouraged by higher computational complexity and more time requirement at the algorithm level. Thus, for reducing time need, various dimension reduction techniques have been employed. Since a single technique cannot cope up with all the transformations like addition of noise, blurring, intensity variation, etc. we employ multiple techniques to a single image. In this paper, we have used Fuzzy logic approach for decision making and getting a global response of all the techniques, since their individual outputs depend on various parameters. Experimental results have given enthusiastic elicitations as regards various transformations to the digital image. Hence this paper proposes Fuzzy based cloning detection and classification system. Experimental results have shown that our detection system achieves classification accuracy of 94.12%. Detection accuracy (DAR) while in case of 81×81 sized copied portion the maximum accuracy achieved is 99.17% as regards subjection to transformations like Blurring, Intensity Variation and Gaussian Noise Addition.

• ETRI Journal
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• 제43권2호
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• pp.184-196
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• 2021

The research domain of underwater communication has garnered much interest among researchers exploring underwater activities. The underwater environment differs from the terrestrial setting. Some of the main challenges in underwater communication are limited bandwidth, low data rate, propagation delay, and high bit error rate (BER). As such, this study assessed the underwater acoustic (UWA) aspect and explored the expression of error performance based on t-distribution noise. Filter orthogonal frequency-division multiplexing refers to a new waveform candidate that has been adopted in UWA, along with turbo and polar codes. The empirical outcomes demonstrated that the noise did not adhere to Gaussian distribution, whereas the simulation results revealed that the filter applied in orthogonal frequency-division multiplexing could significantly suppress out-of-band emission. Additionally, the performance of the turbo code was superior to that of the polar code by 2 dB at BER 10-3.