• Proceedings of the KIEE Conference
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• 1990.07a
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• pp.72-76
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• 1990

A new statistical linearization technique for nonlinear system called covariance matching method is proposed in this paper. The covariance matching method makes the mean and variance of an approximated output be identical real functional output, and the distribution of the approximated output have identical shape with a given random input. Also, the covariance matching method can be easily implemented for statistical analysis of nonlinear systems with a combination of linear system covariance analysis.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.2
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• pp.77-87
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• 1996

Existing area-based stereo matching algorithms utilize a single rectangular correlation area for computing cross-correlation between corresponding points in stereo images, and compute disparity by finding the peak in the vicinity of depth discontinuity, since, because of inconstnat disparities around discontinuities, the cross-correlation becomes low in such area. Inthis paper, a new area-based matching strategy is proposed exploiting multiple directional correlation masks instead of a single one. The proposed technique computes multiple cross-covariance functions using each oriented mask. Peaks are detected from each covariance function and the disparity is computed by choosing the location with the highest covariance value. Proposed approach can also be applied to compute disparity gradients without obtaining dense depth data. A number of examples are presented using synthetic and natural stereo images.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1933-1938
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• 2003

A covariance matrix is a tool that expresses odometry uncertainty of the wheeled mobile robot. The covariance matrix is a key factor in various localization algorithms such as Kalman filter, topological matching and so on. However it is not easy to acquire an accurate covariance matrix because we do not know the real states of the robot. Up to the authors knowledge, there seems to be no established result on the covariance matrix estimation for the odometry. In this paper, we propose a new method which can estimate the covariance matrix from empirical data. It is based on the PC-method and shows a good estimation ability. The experimental results validate the performance of the proposed method.

• Smart Media Journal
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• v.7 no.2
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• pp.23-33
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• 2018

A musical sheet is read by optical music recognition (OMR) systems that automatically recognize and reconstruct the read data to convert them into a machine-readable format such as XML so that the music can be played. This process, however, is very challenging due to the large variety of musical styles, symbol notation, and other distortions. In this paper, we present a model for the recognition of musical symbols through the use of a mobile application, whereby a camera is used to capture the input image; therefore, additional difficulties arise due to variations of the illumination and distortions. For our proposed model, we first generate a line adjacency graph (LAG) to remove the staff lines and to perform primitive detection. After symbol segmentation using the primitive information, we use a covariance-matching method to estimate the similarity between every symbol and pre-defined templates. This method generates the three hypotheses with the highest scores for likelihood measurement. We also add a global consistency (time measurements) to verify the three hypotheses in accordance with the structure of the musical sheets; one of the three hypotheses is chosen through a final decision. The results of the experiment show that our proposed method leads to promising results.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.259-264
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• 2006

It is well known that the uncertainty of the covariance parameters of the process noise (Q) and the observation errors (R) has a significant impact on Kalman filtering performance. Q and R influence the weight that the filter applies between the existing process information and the latest measurements. Errors in any of them may result in the filter being suboptimal or even cause it to diverge. The conventional way of determining Q and R requires good a priori knowledge of the process noises and measurement errors, which normally comes from intensive empirical analysis. Many adaptive methods have been developed to overcome the conventional Kalman filter's limitations. Starting from covariance matching principles, an innovative adaptive process noise scaling algorithm has been proposed in this paper. Without artificial or empirical parameters to be set, the proposed adaptive mechanism drives the filter autonomously to the optimal mode. The proposed algorithm has been tested using road test data, showing significant improvements to filtering performance.

• Journal of the Korea Institute of Military Science and Technology
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• v.26 no.3
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• pp.214-226
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• 2023

A transfer alignment is used to initialize, align, and calibrate a SINS(Slave INS) using a MINS(Master INS) in motion. This paper presents an airborne transfer alignment with velocity and azimuth matching to estimate inertial sensor biases under the wing flexure influence. This study also considers the lever arm, time delay and relative orientation between MINS and SINS. The traditional transfer alignment only uses velocity matching. In contrast, this paper utilizes the azimuth matching to prevent divergence of the azimuth when the aircraft is stationary or quasi-stationary since the azimuth is less affected by the wing flexibility. The performance of the proposed Kalman filter is analyzed using two factors; one is the estimation performance of gyroscope and accelerometer bias and the other is comparing aircraft dynamics and attitude covariance. The performance of the proposed filter is verified using a long term flight test. The test results show that the proposed scheme can be effectively applied to various platforms that require airborne transfer alignment.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1348-1351
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• 1997

The federated Kaman filter(FKF) is being widely used in many multisensor navigatiion systems. It is know that the FKF has advantages of simplicity and fault-tolerance over other decentralized filter techniques. In this paper, optimal and suboptimal FKF configuratiions are mentioned and a covariance analysis technique for the suboptimal FKF is newly presented. The suboptimal FKF configuration, known as No-reset(NR) mode, has better fault tolerance capability than the optimal FKF coniguratioin. In the suggested technique, a suboptimal fusion process of FKF is considered a swell as suboptimal gains of local filters. An upper boun of error covariance for suboptimal FKF is derived. Also, it is mathematically shown that this bound is smaller thanexisting bound in the literatrue. A vehicle-navigaion system is designed using the FKF. In thissystem, a map constraing equation is introduced and used as a measurement equatioin of Kalman filter. Performance analysis is done by the suggested covariance analysis techniques.

• Journal of information and communication convergence engineering
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• v.9 no.5
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• pp.505-509
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• 2011

This paper attempts to classify known facial expressions and to establish the correlations between two regions (eye + eyebrows and mouth) in identifying the six prototypic expressions. Covariance is used to describe region texture that captures facial features for classification. The texture captured exhibit the pattern observed during the execution of particular expressions. Feature matching is done by simple distance measure between the probe and the modeled representations of eye and mouth components. We target JAFFE database in this experiment to validate our claim. A high classification rate is observed from the mouth component and the correlation between the two (eye and mouth) components. Eye component exhibits a lower classification rate if used independently.

• Journal of information and communication convergence engineering
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• v.9 no.2
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• pp.207-211
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• 2011

This paper presents a method for facial feature representation and recognition from the Covariance Matrices of the Gabor-filtered images. Gabor filters are a very powerful tool for processing images that respond to different local orientations and wave numbers around points of interest, especially on the local features on the face. This is a very unique attribute needed to extract special features around the facial components like eyebrows, eyes, mouth and nose. The Covariance matrices computed on Gabor filtered faces are adopted as the feature representation for face recognition. Geodesic distance measure is used as a matching measure and is preferred for its global consistency over other methods. Geodesic measure takes into consideration the position of the data points in addition to the geometric structure of given face images. The proposed method is invariant and robust under rotation, pose, or boundary distortion. Tests run on random images and also on publicly available JAFFE and FRAV3D face recognition databases provide impressively high percentage of recognition.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.30 no.3C
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• pp.112-118
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• 2005

In this paper, we propose a new nonlinear matching measure for automatic analysis of the on-off type DNA microarray images in which the hybridized spots are detected by the template matching method. The proposed measure is obtained by binary-thresholding over the whole template region and taking the number of white pixels inside the spotted area. This measure is compared with the normalized covariance in terms of the classification ability of the successfulness of the locating markers. The proposed measure is evaluated for the scanned images of HPV DNA microarrays where the marker locating is a critical issue because of the small number of spots. The targeting spots of HPV DNA chips are designed for genotyping 22 types of the human papilloma virus(HPV). The proposed measure is proven to give more discriminative response reducing the miss cases of the successful marker locating.