• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.22 no.5
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• pp.177-183
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• 2022

Recently, interesting of home training is getting bigger due to COVID-19. Accordingly, research on applying HAR(human activity recognition) technology to home training has been conducted. However, existing paper of HAR proposed static activity instead of dynamic activity. In this paper, the deep learning model where dynamic exercise posture can be analyzed and the accuracy of the user's exercise posture can be shown is proposed. Fitness images of AI-hub are analyzed by blaze pose. The experiment is compared with three types of deep learning model: RNN(recurrent neural network), LSTM(long short-term memory), CNN(convolution neural network). In simulation results, it was shown that the f1-score of RNN, LSTM and CNN is 0.49, 0.87 and 0.98, respectively. It was confirmed that CNN is more suitable for human activity recognition than other models from simulation results. More exercise postures can be analyzed using a variety learning data.

• The Journal of Korea Robotics Society
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• v.6 no.4
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• pp.344-352
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• 2011

A mobile manipulator is a system with a robotic manipulator mounted on top of a mobile base. It has both indoor and outdoor applications for transporting or transferring materials. When a user gives commands, they are usually at high levels such as "move the object to the table," or "tidy the room." By intelligently decomposing these complex commands into several subtasks, the mobile manipulator can perform the tasks with a greater efficiency. One of the crucial subtasks for these commands is the pick-and-place task. For the mobile manipulator, selection of a good base position and orientation is essential to accomplishing this task. This paper presents an algorithm that determines one of the position and orientation of a mobile manipulator in order to complete the pick-and-place task without human intervention. Its effectiveness are shown for a mobile manipulator with 9 degrees-of-freedom in simulation.

• Proceedings of the Korean Environmental Health Society Conference
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• 2005.06a
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• pp.11-44
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• 2005

The occurrence of toxic cyanobacterial blooms has been reported worldwide and pose a threat to human health through drinking water exposure. The toxins they produced are highly water soluble and can leach into the water body. To eliminate any risk of drinking water exposure, removal of these toxins is essential before the water is consumed. Conventional water treatment techniques such as chlorination, if managed well, can be effectively used to remove some of these toxins, however, saxitoxin and derivatives pose a problem. Little toxicological data are available to evaluate the real threat of these toxins.

• Electronics and Telecommunications Trends
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• v.33 no.4
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• pp.43-53
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• 2018

As face recognition (FR) has been well studied over the past decades, FR technology has been applied to many real-world applications such as surveillance and biometric systems. However, in the real-world scenarios, FR performances have been known to be significantly degraded owing to variations in face images, such as the pose, illumination, and low-resolution. Recently, visual intelligence technology has been rapidly growing owing to advances in deep learning, which has also improved the FR performance. Furthermore, the FR performance based on deep learning has been reported to surpass the performance level of human perception. In this article, we discuss deep-learning based high-performance FR technologies in terms of representative deep-learning based FR architectures and recent FR algorithms robust to face image variations (i.e., pose-robust FR, illumination-robust FR, and video FR). In addition, we investigate big face image datasets widely adopted for performance evaluations of the most recent deep-learning based FR algorithms.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.160.3-160
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• 2001

The objective of this research is to monitor and control the vehicle motion in order to remove out the existing safety risk based upon the human-machine cooperative vehicle control. A new control method is proposed to control the steering wheel of the vehicle to keep the lane. Desired angle of the steering wheel to control the vehicle motion could be calculated based upon vehicle dynamics, current and estimated pose of the vehicle every sample steps. The vehicle pose and the road curvature were calculated by geometrically fusing sensor data from camera image, tachometer and steering wheel encoder though the Perception Net, where not only the state variables, but also the corresponding uncertainties were propagated in ...

• Proceedings of the IEEK Conference
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• 2002.06c
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• pp.227-230
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• 2002

In this paper we concentrate on overall direction of the gaze based on a head pose for human computer interaction. To decide a gaze direction of user in a image, it is important to pick up facial feature exactly. For this, we binarize the input image and search two eyes and the mouth through the similarity of each block ( aspect ratio, size, and average gray value ) and geometric information of face at the binarized image. We create a imaginary plane on the line made by features of the real face and the pin hole of the camera to decide the head orientation. We call it the virtual facial plane. The position of a virtual facial plane is estimated through projected facial feature on the image plane. We find a gaze direction using the surface normal vector of the virtual facial plane. This study using popular PC camera will contribute practical usage of gaze tracking technology.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2008.04a
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• pp.199-200
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• 2008

머리의 자세 및 움직임 추적은 응시추적 및 시각운율 연구에서 필수적이다. 일반적으로 머리자세를 추정하는 방법은 보정된 카메라를 통해 추출된 얼굴의 특징점 정보를 이용한다. 그러나 실제 응용 분야에서는 보정되지 않은 카메라를 통한 머리 움직임을 추정해야 할 경우가 발생한다. 이에 따라 본 논문에서는 보정되지 않은 하나의 카메라를 이용, 단일특징점 정보를 이용한 머리 자세 추정 방법을 확장하여 최적화 기법을 도입한 다특징점 정보 기반 머리 자세 추정방법에 대하여 논하였다.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.257-257
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• 2000

The objective of this research is to monitor and control the vehicle motion in order to remove out the existing safety risk based upon the human-machine cooperative vehicle control. A predictive control method is proposed to control the steering wheel of the vehicle to keep the lane. Desired angle of the steering wheel to control the vehicle motion could be calculated based upon vehicle dynamics, current and estimated pose of the vehicle every sample steps. The vehicle pose and the road curvature were calculated by geometrically fusing sensor data from camera image, tachometer and steering wheel encoder though the Perception Net, where not only the state variables, but also the corresponding uncertainties were propagated in forward and backward direction in such a way to satisfy the given constraint condition, maintain consistency, reduce the uncertainties, and guarantee robustness. A series of experiments was conducted to evaluate the control performance, in which a car Like robot was utilized to quit unwanted safety problem. As the results, the robot was keeping very well a given lane with arbitrary shape at moderate speed.

• Proceedings of the IEEK Conference
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• 2002.06d
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• pp.69-72
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• 2002

Human face detection has many applications such as face recognition, face or facial feature tracking, pose estimation, and expression recognition. We present a new method for automatically segmentation and face detection in color images. Skin color alone is usually not sufficient to detect face, so we combine the color segmentation and shape analysis. The algorithm consists of two stages. First, skin color regions are segmented based on the chrominance component of the input image. Then regions with elliptical shape are selected as face hypotheses. They are certificated to searching for the facial features in their interior, Experimental results demonstrate successful detection over a wide variety of facial variations in scale, rotation, pose, lighting conditions.

• Proceedings of the IEEK Conference
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• 2000.07a
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• pp.11-14
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• 2000

In this paper, we propose a fast and practical head pose estimation scheme fur eye-head controlled human computer interface with non-constrained background. The method we propose uses complete graph matching from thresholded images and the two blocks showing the greatest similarity are selected as eyes, we also locate mouth and nostrils in turn using the eye location information and size information. The average computing time of the image(360*240) is within 0.2(sec) and we employ template matching method using angles between facial features for head pose estimation. It has been tested on several sequential facial images with different illuminating conditions and varied head poses, It returned quite a satisfactory performance in both speed and accuracy.