• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.113.2-113
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• 2001

In this paper, we present a robot off-Line programming system with collision detection. The collision detection is a very important factor of robot oft-line programming system for collision avoidance, path planning, and so on. The System developed in this paper, basically using an algorithm for the minimum distance calculation between general polyhedra. The proposed system shows an exact and interactive result in static and dynamic environments.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.12 no.11
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• pp.2050-2056
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• 2008

A realization for moving object sensing and tracking system in two dimensional plane using stereo line CCDs and lighting source is presented in this paper. The system is realized that instead of processing camera images directly, two line CCD sensor and input line image is used to measure two dimensional distance by comparing the brightness on line CCDs. The algorithms are used the moving object sensing, path tracking and coordinate converting method. To ensure the effective detection of moving path, a detection algorithm to evaluate the reliability of each measured distance is developed. The realized system results are that the performance of moving object recognizing shows 5mm resolution, and enables to track a moving path of object per looms period.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.10
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• pp.141-150
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• 1997

In this paepr, we propose an intelligent double talk detector that can enhance the performance of the acoustic echo cancellation system. The conventional double talk detection methods often misunderstand the echo path changes as double talk. Although there exist several detection methods that can distinguish the echo path changes from the double-talks, they show poor tracking performance because of the excessive decision delay for the discrimination and can only be used after the adaptive digital filter converges. A new and more effective ditetion algorithm has been proposed, where the detection mechanism is performed by observing the change rate of the reflection coefficients of the two lattice predictors that re placed on the near-end and far-end terminals. The excellence of the proposed method is verified by extensive computer simulations using real speech signals.

• Journal of the Semiconductor & Display Technology
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• v.14 no.3
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• pp.23-26
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• 2015

A seam carving based micro-crack detection method is proposed which aims at detecting the micro-crack regions in heterogeneously textured surface of polycrystalline solar cells. By calculating the seam which is a connected path of low energy pixels in the image, the micro-crack regions can be detected. Experimental results show that the proposed seam carving based micro-crack detection method has superior efficiency in detecting the micro-crack without background noise pixels and the algorithm's computation time is less than the conventional algorithm.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.11A
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• pp.1197-1205
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• 2007

An adaptive K-best detection scheme is proposed for MIMO systems. The proposed scheme changes the number of survivor paths, K based on the degree of the reliability of Zero-Forcing (ZF) estimates at each K-best step. The critical drawback of the fixed K-best detection is that the correct path's metric may be temporarily larger than K minimum paths metrics due to imperfect interference cancellation by the incorrect ZF estimates. Based on the observation that there are insignificant differences among path metrics (ML distances) when the ZF estimates are incorrect, we use the ratio of the minimum ML distance to the second minimum as a reliability indicator for the ZF estimates. So, we adaptively select the value of K according to the ML distance ratio. It is shown that the proposed scheme achieves the significant improvement over the conventional fixed K-best scheme. The proposed scheme effectively achieves the performance of large K-best system while maintaining the overall average computation complexity much smaller than that of large K system.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.30B no.12
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• pp.12-20
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• 1993

In a conventional adaptive echo canceller, an ADF(Adaptive Digital Filter) with TDL(Tapped-Delay Line) structure modelling the echo path uses the LMS(Least Mean Square) algorithm to compute the coefficients, and NET detector using energy comparison method prevents the ADF to update the coefficients during the periods of the NET signal presence. The convergence speed of the LMS algorithm depends on the eigenvalue spread ratio of the reference signal and NET detector using the energy comparison method yields poor detection performance if the magnitude of the NET signal is small. This paper presents a new adaptive echo canceller which uses the pre-whitening filter to improve the convergence speed of the LMS algorithm. The pre-whitening filter is realized by using a low-order lattice predictor. Also, a new NET signal detection algorithm is presented, where the start point of the NET signal is detected by computing the cross-correlation coefficient between the primary input and the ADF output while the end point is detected by using the energy comparison method. The simulation results show that the convergence speed of the proposed adaptive echo canceller is faster than that of the conventional echo canceller and the cross-correlation coefficient yields more accurate detection of the start point of the NET signal.

• Journal of Auto-vehicle Safety Association
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• v.12 no.2
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• pp.33-39
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• 2020

This paper presents an Around View Monitoring (AVM) stop-line detection based longitudinal position correction algorithm for automated driving on urban roads. Poor positioning accuracy of low-cost GPS has many problems for precise path tracking. Therefore, this study aims to improve the longitudinal positioning accuracy of low-cost GPS. The algorithm has three main processes. The first process is a stop-line detection. In this process, the stop-line is detected using Hough Transform from the AVM camera. The second process is a map matching. In the map matching process, to find the corrected vehicle position, the detected line is matched to the stop-line of the HD map using the Iterative Closest Point (ICP) method. Third, longitudinal position of low-cost GPS is updated using a corrected vehicle position with Kalman Filter. The proposed algorithm is implemented in the Robot Operating System (ROS) environment and verified on the actual urban road driving data. Compared to low-cost GPS only, Test results show the longitudinal localization performance was improved.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37C no.10
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• pp.925-932
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• 2012

In this paper, we develop a pattern recognition algorithm applied to a humanoid robot which is exploited as a guide for visually handicapped persons to find a desired path to their destinations. Behavior primitives of a humanoid robot are defined, and Canny's edge detection algorithm is employed to extract the pattern and color of the paving blocks that especially devised for visually handicapped persons. Based on these, an efficient path finding algorithm is developed and implemented on a humanoid robot, running on an embedded linux operating system equipped with a video camera. The performance of our algorithm is experimentally examined in terms of the response time and the pattern recognition ratio. In order to validate our algorithm in various realistic environments, the experiments are repeatedly performed by changing the tilt of paving blocks and the brightness in surrounding area. The results show that our algorithm performs sufficiently well to be exploited as a path finding system for visually handicapped persons.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.42 no.1
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• pp.65-70
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• 2005

This paper deals with the problem of double-talk (DT) detection in anacoustic echo canceller (AEC). In the DT detection algorithm with correlation coefficient, detection errors occasionally occur because it is hard to set the threshold to distinguish DT from echo path change (EPC). Adaptive filter falls into the situation that it stops updating its filter coefficients when EPC is erroneously considered as DT at the starting-point of EPC. In addition, in case of echo path changing during the DT period, the end-point detection of DT period fails so that the AEC cannot update its filter coefficients for a while even after the DT period ends. To solve these problems, in this paper, we propose a novel AEC that employs an auxiliary filter. We use the idea that though the error signal cannot be estimated using reference signal in case or DT situation but it can be in case or EPC situation. The experimental result verifies that the proposed method could solve the problems caused by DT detection error or echo path change during the DT period.

• Proceedings of the Korean Institute of Communication Sciences Conference
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• 2004.11a
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• pp.347-347
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• 2004