• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• v.8 no.3
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• pp.945-953
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• 2018

In this paper, we use 3-D LIDAR for obstacle detection and avoidance maneuver for autonomous unmanned operation. It is aimed to avoid obstacle avoidance in unmanned water under marine condition using only single sensor. 3D lidar uses Quanergy's M8 sensor to collect surrounding obstacle data and includes layer information and intensity information in obstacle information. The collected data is converted into a three-dimensional Cartesian coordinate system, which is then mapped to a two-dimensional coordinate system. The data including the obstacle information converted into the two-dimensional coordinate system includes noise data on the water surface. So, basically, the noise data generated regularly is defined by defining a hypothetical region of interest based on the assumption of unmanned water. The noise data generated thereafter are set to a threshold value in the histogram data calculated by the Vector Field Histogram, And the noise data is removed in proportion to the amount of noise. Using the removed data, the relative object was searched according to the unmanned averaging motion, and the density map of the data was made while keeping one cell on the virtual grid map. A polar histogram was generated for the generated obstacle map, and the avoidance direction was selected using the boundary value.

• Korean Journal of Geomatics
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• v.1 no.1
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• pp.43-49
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• 2001

Although many kinds of stereo matching method have been developed in the field of computer vision and photogrammetry, wrong matches are not easy to avoid. This paper presents a new method to reduce wrong matches after matching, and experimental results are reported. The main idea is to analyze the histogram of the image attribute differences between each pair of image patches matched. Typical image attributes of image patch are the mean and the standard deviation of gray value for each image patch, but there could be other kinds of image attributes. Another idea is to check relative position among potential matches. This paper proposes to use Gaussian blunder filter to detect the suspicious pair of candidate match in relative position among neighboring candidate matches. If the suspicious candidate matches in image attribute difference or relative position are suppressed, then many wrong matches are removed, but minimizing the suppression of good matches. The proposed method is easy to implement, and also has potential to be applied as post processing after image matching for many kinds of matching methods such as area based matching, feature matching, relaxation matching, dynamic programming, and multi-channel image matching. Results show that the proposed method produces fewer wrong matches than before.

• Korean Journal of Veterinary Research
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• v.38 no.4
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• pp.918-928
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• 1998

The present study was done with two aims. First, to evaluate the radiographic measurements of liver volumes in normal and hepatomegaly dogs induced by carbon tetrachloride. Second, to investigate quantitative tissue echo pattern by ultrasonography. Gray level histogram of the normal liver and the kidney were estimated with carbon tetra-chloride intoxication. In normal, r-square for liver volume to body weight was 0.93372, and this showed direct linear regression. Gray level histograms of the normal liver and the kidney were $19.150{\pm}2.490$(mean${\pm}$SD) and $13.175{\pm}2.686$(mean${\pm}$SD) respectively(p < 0.01). Liver parenchymal echogenicity was more hyperechogenic than kidney cortex echogenicity. Liver/Kidney ratio was $1.504{\pm}0.313$ and it can be used relative comparison of liver and kidney parenchymal echogenicity. In carbon-tetrachloride($CCl_4$) intoxication, changes of liver volume appeared to increase up to 24 hours after administration (p < 0.05), and decreased gradually to normal level after 2~5 days. Gray level histogram of liver parenchyma decreased up to 24hours (p < 0.01) after intoxication and then gradually increased to normal level. But that of kidney cortex had no significant change. Liver/Kidney ratio also decreased by 2 days(p < 0.01) and then gradually increased to normal level. On histopathologic features of hepatic tissues in carbon tetrachloride intoxication, both coagulative necrosis of hepatic cell and hemorrhage of centrilobular & midzonal area were identified. Conclusively, plain radiography is a useful diagnostic method for evaluating liver volume in mild hepatomegaly. Especially, it is considered that an adequate numerical processing of the liver length, depth and thoracic width and depth measurement would be helpful. Using gray level histogram, ultrasonographic evaluation was useful objective methods in early diagnosis of diffuse hepatic disease.

• KIEE International Transactions on Power Engineering
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• v.4A no.1
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• pp.18-25
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• 2004

This paper proposes a totally new method in the chaos characteristics' analysis of power systems, the introduction of topological invariants. Using a return histogram, a bifurcation graph was drawn. As well, the periodic orbits and topological invariants - the local crossing number, relative rotation rates, and linking number during the process of period-doubling bifurcation and chaos were extracted. This study also examined the effect on the topological invariants when the sensitive parameters were varied. In addition, the topological invariants of a three-dimensional embedding of a strange attractor were extracted and the result was compared with those obtained from differential equations. This could be a new approach to state detection and fault diagnosis in dynamical systems.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.91-94
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• 2001

In this paper, we proposed localization method of mobile robot using color landmark mounted on ceiling. This work is composed 2 parts : landmark recognition part which finds the position of multiple landmarks in image and identifies them and absolute position estimation part which estimates the location and orientation of mobile robot in indoor environment. In landmark recognition part, mobile robot detects artificial color landmarks using simple histogram intersection method in rg color space which is insensitive to the change of illumination. Then absolute position estimation part calculates relative position of the mobile robot to the detected landmarks. For the verification of proposed algorithm, ceiling-orientated camera was installed on a mobile robot and performance of localization was examined by designed artificial color landmarks. As the result of test, mobile robot could achieve the reliable landmark detection and accurately estimate the position of mobile robot in indoor environment.

• Journal of KIISE:Software and Applications
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• v.26 no.1
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• pp.150-150
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• 1999

In this paper, a content-based image retrieval scheme based on scale-space theory is proposed. The existing methods using scale-space theory consider all scales for image retrieval,thereby requiring a lot of computation. To overcome this problem, the proposed algorithm utilizes amodified histogram intersection method to select candidate images from database. The relative scalebetween a query image and a candidate image is calculated by the ratio of histograms. Feature pointsare extracted from the candidates using a corner detection algorithm. The feature vector for eachfeature point is composed of RGB color components and differential invariants. For computing thesimilarity between a query image and a candidate image, the euclidean distance measure is used. Theproposed image retrieval method has been applied to various images and the performance improvementover the existing methods has been verified.

• Proceedings of the KIEE Conference
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• 2003.11a
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• pp.297-299
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• 2003

This paper proposes a totally new method in the chaos characteristics analysis of power systems, the introduction of topological invariants. Using a return histogram the bifurcation graph was drawn, the periodic orbits and topological invariants the local crossing number, relative rotation rates, and linking number during the process of period-doubting bifurcation and chaos were extracted. This study also examined the effect on the topological invariants when the sensitive parameters were varied. In addition, the topological invariants of a three-dimensional embedding of the strange attractor was extracted and the result was compared with those obtained from differential equations. This could be a new way for a state detection and fault diagnosis in a dynamical system.

• The Bulletin of The Korean Astronomical Society
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• v.45 no.1
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• pp.57.4-58
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• 2020

The B-fields in Star-forming Region Observations (BISTRO) is a large program of the James Clerk Maxwell Telescope (JCMT) to study the roles of magnetic fields in molecular clouds on intermediate scales (a few thousands au or larger scales), in which a large number of researchers over the world are involved. This project was initiated in 2016 with polarimetric observations of nearby star-forming regions and has been extended toward massive and farther regions (BISTRO-2) and various evolutionary stages and environmental conditions (BISTRO-3). The current status of the BISTRO projects is reported. In addition, we discuss magnetic fields in the Serpens Main molecular cloud, which is one of the BISTRO star-forming regions. Utilizing the Histogram of Relative Orientations method, which compares polarization directions with density gradients, we show that magnetic fields are parallel to filaments in less dense filamentary structures but perpendicular to dense ones. Furthermore, the magnetic field directions with respect to density gradients vary again with density in denser core regions, which is understood by core formation and pinched fields. Note: (PI) D. Ward-Thompson, (co-PIs) P. Bastien, T. Hasegawa, W. Kwon, S. Lai, and K. Qiu

• Journal of Korea Water Resources Association
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• v.42 no.4
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• pp.355-363
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• 2009

The purpose of this paper is to investigate the influence of noise on chaotic time series. We used two time series of Lorenz system and of Great Salt Lake's volume data which are well known as chaotic systems. This study investigated the attractors, correlation dimensions, and Close Returns Plots and Close Returns Histograms of two time series to investigate the influence of noise as increasing noise level. We performed Chi-square test to the relative frequency of Close Returns Histogram from Close Returns Plot for the investigation of stochastic process of chaotic time series as increasing noise level of time series. As the results, two time series were changed from chaotic to stochastic series as noise level is increased. Finally, we analyzed the effect of noise cancellation by using Simple Moving Average method. The results of applications of Simple Moving Average method to Lorenz and GSL time series showed that we could effectively cancel the noise. Then we could confirm the applicability of Simple Moving Average method to cancel the noise for the hydrologic time series having chaotic characteristics.

• The Transactions of the Korea Information Processing Society
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• v.4 no.2
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• pp.338-348
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• 1997

In this pater, we first propose a data distribution framework to resolve load imbalance and bucket oerflow in parallel hash join.Using the histogram equalization technique, the framework transforms a histogram of skewed data to the desired uniform distribution that corresponds to the relative computing power of node processors in the system.Next we propose an effcient parallel hash join algorithm for handing skwed data based on the proposed data distribution methodology.For performance comparison of our algorithm with other hash join algorithms.we perform similation experiments and actual exeution on COREDB database computer with 8-node hyperube architecture. In these experiments, skwed data distebution of the join atteibute is modeled using a Zipf-like distribution.The perfomance studies undicate that our algorithm outperforms other algorithms in the skewed cases.