• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.41 no.7
• /
• pp.655-663
• /
• 2017

With the development of ICT technology, the indoor utilization of robots is increasing. Research on transportation, cleaning, guidance robots, etc., that can be used now or increase the scope of future use will be advanced. To facilitate the use of mobile robots in indoor spaces, the problem of self-location recognition is an important research area to be addressed. If an unexpected collision occurs during the motion of a mobile robot, the position of the mobile robot deviates from the initially planned navigation path. In this case, the mobile robot needs a robust controller that enables the mobile robot to accurately navigate toward the goal. This research tries to address the issues related to self-location of the mobile robot. A robust position recognition system was implemented; the system estimates the position of the mobile robot using a combination of encoder information of the mobile robot and the absolute space coordinate transformation information obtained from external video sources such as a large number of CCTVs installed in the room. Furthermore, vector field histogram method of the pass traveling algorithm of the mobile robot system was applied, and the results of the research were confirmed after conducting experiments.

• Journal of Broadcast Engineering
• /
• v.13 no.5
• /
• pp.732-743
• /
• 2008

In H.264/AVC, 4$\times$4 block transform is used for intra and inter prediction instead of 8$\times$8 block transform. Using small block size coding, H.264/AVC obtains high temporal prediction efficiency, however, it has limitation in utilizing spatial redundancy. Motivated on these points, we propose a multi-dimensional transform which achieves both the accuracy of temporal prediction as well as effective use of spatial redundancy. From preliminary experiments, the proposed multi-dimensional transform achieves higher energy compaction than 2-D DCT used in H.264. We designed an integer-based transform and quantization coder for multi-dimensional coder. Moreover, several additional methods for multi-dimensional coder are proposed, which are cube forming, scan order, mode decision and updating parameters. The Context-based Adaptive Variable-Length Coding (CAVLC) used in H.264 was employed for the entropy coder. Simulation results show that the performance of the multi-dimensional codec appears similar to that of H.264 in lower bit rates although the rate-distortion curves of the multi-dimensional DCT measured by entropy and the number of non-zero coefficients show remarkably higher performance than those of H.264/AVC. This implies that more efficient entropy coder optimized to the statistics of multi-dimensional DCT coefficients and rate-distortion operation are needed to take full advantage of the multi-dimensional DCT. There remains many issues and future works about multi-dimensional coder to improve coding efficiency over H.264/AVC.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.28 no.7C
• /
• pp.726-732
• /
• 2003

The paper proposes a motion estimation (ME) technique to reduce computational complexity. It is achieved by skipping ME process for macro-blocks decided to be in no need of the operation. Thus, it is called ME skipping technique(MEST). In general, the ME is composed of integer pixel precision ME (IME) followed by half pixel precision ME (HME). The MEST is performed just before an IME process and makes a decision on skipping the IME process according to a criterion based on ME errors of adjacent macro-blocks (MBs) already encoded. When the IME process for a MB is decided to be skipped, which is called ME skip mode, the IME process is skipped and the integer pixel precision motion vector of the MB is just replaced by a predicted vector and used as the input of HME. On the other hands, the IME processes for MBs in ME non-skip mode are not skipped but normally performed. Accordingly, the MEST is very effective to reduce computational complexity when MBs in ME skip mode is abundant. In addition, when the MEST is applied to video encoder, it contributes to more accurate rate control and more robusaess for channel errors. It is experimentally shown that the MEST has the above advantages while maintaining good reconstructed image quality.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.48 no.1
• /
• pp.90-102
• /
• 2011

Recently, the grade of users using wireless communication services which transmits and re-transmits to the signal via the broadcasting satellite have a variety. However the ships not preparing of H.264 standard devices should not received the realtime data because the broadcasting stations have transmitted the compressed video data through the satellite communication. Therefore this paper proposes H.264 to MPEG-2 transcoding for the ships using MPEG-2 devices. Proposed method improves a speed and object quality in H.264 to MPEG-2 transcoding by analysis features of macroblock modes in H.264. In the Intra mode of P-frame, it proposes new method by computing coincidence proportion after comparing of Intra mode methods of H.264 and MPEG-2. In the Inter mode, it proposes a PMV(predictive motion vector) considering movement of motion vectors in H.264 decoder. we reuses a PMV directly as like the final MV in MPEG-2 encoder and refinements the MV after coincidence ratio comparing of variable motion vectors of H.264 and these of MPEG-2. The experimental results from proposed method show a considerable reduction in processing time, as much as 70% and 67% respectively, with a small objective quality reduction in PSNR.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.32 no.2C
• /
• pp.181-188
• /
• 2007

This paper proposed a watermark embedding/extracting method using CABAC(Context-based Adaptive Binary Arithmetic Coding) which is the entropy encoder for the main profile of MPEG-4 Part 10 H.264/AVC. This algorithm selects the blocks and the coefficients in a block on the bases of the contexts extracted from the relationship to the adjacent blocks and coefficients. A watermark bit is embedded without any modification of coefficient or with replacing the LSB(Least Significant Bit) of the coefficient with a watermark bit by considering both the absolute value of the selected coefficient and the watermark bit. Therefore, it makes it hard for an attacker to find out the watermarked locations. By selecting a few coefficients near the DC coefficient according to the contexts, this algorithm satisfies the robustness requirement. From the results from experiments with various kinds and various strengths of attacks the maximum error ratio of the extracted watermark was 5.02% in maximum, which makes certain that the proposed algorithm has very high level of robustness. Because it embeds the watermark during the context modeling and binarization process of CABAC, the additional amount of calculation for locating and selecting the coefficients to embed watermark is very small. Consequently, it is highly expected that it is very useful in the application area that the video must be compressed right after acquisition.

• Journal of KIISE:Computing Practices and Letters
• /
• v.10 no.4
• /
• pp.309-318
• /
• 2004

This paper proposes the H.264-based selective fine granular scalable (FGS) coding scheme that selectively uses the temporal prediction data in the enhancement layer. The base layer of the proposed scheme is basically coded by the H.264 (MPEG-4 Part 10 AVC) visual coding scheme that is the state-of-art in codig efficiency. The enhancement layer is basically coded by the same bitplane-based algorithm of the MPEG-4 (Part 2) fine granular scalable coding scheme. In this paper, we introduce a new algorithm that uses the temproal prediction mechanism inside the enhancement layer and the effective selection mechanism to decide whether the temporally-predicted data would be sent to the decoder or not. Whenever applying the temporal prediction inside the enhancement layer, the temporal redundancies may be effectively reduced, however the drift problem would be severly occurred especially at the low bitrate transmission, due to the mismatch bewteen the encoder's and decoder's reference frame images. Proposed algorithm selectively uses the temporal-prediction data inside the enhancement layer only in case those data could siginificantly reduce the temporal redundancies, to minimize the drift error and thus to improve the overall coding efficiency. Simulation results, based on several test image sequences, show that the proposed scheme has 1∼3 dB higher coding efficiency than the H.264-based FGS coding scheme, even 3∼5 dB higher coding efficiency than the MPEG-4 FGS international standard.

• The Journal of Korean Institute of Next Generation Computing
• /
• v.13 no.2
• /
• pp.18-25
• /
• 2017

In computer science, an encoding is a standardization of converting information to one format for audio, video or text. Therefore, the encoding information of the data should be known to open and read it and there are algorithms detecting encoder of the data. However, some informations of data could be disappeared by packet loss when transmitted on network, especially, if the data is snatched by packet sniffing or eavesdropping from wireless communications. In this paper, we improve the performance of encoding detection algorithm of 'uchardet' program for multi-byte encoded data with errors based on bit-shift algorithm. To simulate the performance, we generated Korean and Japanese text data with errors that is removed some random bits at random positions. Then the detection algorithm are tested using the data and 'uchardet-bitshift' showed better performance than 'uchardet'. When Korean texts are used, 'uchardet' could detect perfectly with ≤0.005% errors but it showed 0% detection rate with ≥1% errors while 'uchardet-bitshift' detected perfectly with ≤0.05% errors and it showed correct detection cases with ≥1% errors. Japanese texts with errors tend to report falsely as Chinese encoding because Japanese texts include lots of Chinese characters. As a results, we improved encoding detection algorithms by applying bit shift operation.