• Journal of Intelligence and Information Systems
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• v.17 no.1
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• pp.53-69
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• 2011

Vision and voice-based technologies are commonly utilized for human-robot interaction. But it is widely recognized that the performance of vision and voice-based interaction systems is deteriorated by a large margin in the real-world situations due to environmental and user variances. Human users need to be very cooperative to get reasonable performance, which significantly limits the usability of the vision and voice-based human-robot interaction technologies. As a result, touch screens are still the major medium of human-robot interaction for the real-world applications. To empower the usability of robots for various services, alternative interaction technologies should be developed to complement the problems of vision and voice-based technologies. In this paper, we propose the use of accelerometer-based gesture interface as one of the alternative technologies, because accelerometers are effective in detecting the movements of human body, while their performance is not limited by environmental contexts such as lighting conditions or camera's field-of-view. Moreover, accelerometers are widely available nowadays in many mobile devices. We tackle the problem of classifying acceleration signal patterns of 26 English alphabets, which is one of the essential repertoires for the realization of education services based on robots. Recognizing 26 English handwriting patterns based on accelerometers is a very difficult task to take over because of its large scale of pattern classes and the complexity of each pattern. The most difficult problem that has been undertaken which is similar to our problem was recognizing acceleration signal patterns of 10 handwritten digits. Most previous studies dealt with pattern sets of 8~10 simple and easily distinguishable gestures that are useful for controlling home appliances, computer applications, robots etc. Good features are essential for the success of pattern recognition. To promote the discriminative power upon complex English alphabet patterns, we extracted 'motion trajectories' out of input acceleration signal and used them as the main feature. Investigative experiments showed that classifiers based on trajectory performed 3%~5% better than those with raw features e.g. acceleration signal itself or statistical figures. To minimize the distortion of trajectories, we applied a simple but effective set of smoothing filters and band-pass filters. It is well known that acceleration patterns for the same gesture is very different among different performers. To tackle the problem, online incremental learning is applied for our system to make it adaptive to the users' distinctive motion properties. Our system is based on instance-based learning (IBL) where each training sample is memorized as a reference pattern. Brute-force incremental learning in IBL continuously accumulates reference patterns, which is a problem because it not only slows down the classification but also downgrades the recall performance. Regarding the latter phenomenon, we observed a tendency that as the number of reference patterns grows, some reference patterns contribute more to the false positive classification. Thus, we devised an algorithm for optimizing the reference pattern set based on the positive and negative contribution of each reference pattern. The algorithm is performed periodically to remove reference patterns that have a very low positive contribution or a high negative contribution. Experiments were performed on 6500 gesture patterns collected from 50 adults of 30~50 years old. Each alphabet was performed 5 times per participant using $Nintendo{(R)}$ $Wii^{TM}$ remote. Acceleration signal was sampled in 100hz on 3 axes. Mean recall rate for all the alphabets was 95.48%. Some alphabets recorded very low recall rate and exhibited very high pairwise confusion rate. Major confusion pairs are D(88%) and P(74%), I(81%) and U(75%), N(88%) and W(100%). Though W was recalled perfectly, it contributed much to the false positive classification of N. By comparison with major previous results from VTT (96% for 8 control gestures), CMU (97% for 10 control gestures) and Samsung Electronics(97% for 10 digits and a control gesture), we could find that the performance of our system is superior regarding the number of pattern classes and the complexity of patterns. Using our gesture interaction system, we conducted 2 case studies of robot-based edutainment services. The services were implemented on various robot platforms and mobile devices including $iPhone^{TM}$. The participating children exhibited improved concentration and active reaction on the service with our gesture interface. To prove the effectiveness of our gesture interface, a test was taken by the children after experiencing an English teaching service. The test result showed that those who played with the gesture interface-based robot content marked 10% better score than those with conventional teaching. We conclude that the accelerometer-based gesture interface is a promising technology for flourishing real-world robot-based services and content by complementing the limits of today's conventional interfaces e.g. touch screen, vision and voice.

• Journal of Korean Tunnelling and Underground Space Association
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• v.26 no.4
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• pp.365-384
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• 2024

The development of scanning technology is accelerating for safer and more efficient automated inspection than human-based inspection. Research on automatically detecting facility damage from images collected using computer vision technology is also increasing. The pixel size, quality, and quantity of an image can affect the performance of deep learning or image processing for automatic damage detection. This study is a basic to acquire high-quality raw image data and camera performance of a mobile tunnel scanning system for automatic detection of damage based on deep learning, and proposes a method to quantitatively evaluate image quality. A test chart was attached to a panel device capable of simulating a moving speed of 40 km/h, and an indoor test was performed using the international standard ISO 12233 method. Existing image quality evaluation methods were applied to evaluate the quality of images obtained in indoor experiments. It was determined that the shutter speed of the camera is closely related to the motion blur that occurs in the image. Modulation transfer function (MTF), one of the image quality evaluation method, can objectively evaluate image quality and was judged to be consistent with visual observation.

• Journal of Animal Science and Technology
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• v.63 no.2
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• pp.367-379
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• 2021

The objectives of this study were to evaluate convolutional neural network models and computer vision techniques for the classification of swine posture with high accuracy and to use the derived result in the investigation of the effect of dietary fiber level on the behavioral characteristics of the pregnant sow under low and high ambient temperatures during the last stage of gestation. A total of 27 crossbred sows (Yorkshire × Landrace; average body weight, 192.2 ± 4.8 kg) were assigned to three treatments in a randomized complete block design during the last stage of gestation (days 90 to 114). The sows in group 1 were fed a 3% fiber diet under neutral ambient temperature; the sows in group 2 were fed a diet with 3% fiber under high ambient temperature (HT); the sows in group 3 were fed a 6% fiber diet under HT. Eight popular deep learning-based feature extraction frameworks (DenseNet121, DenseNet201, InceptionResNetV2, InceptionV3, MobileNet, VGG16, VGG19, and Xception) used for automatic swine posture classification were selected and compared using the swine posture image dataset that was constructed under real swine farm conditions. The neural network models showed excellent performance on previously unseen data (ability to generalize). The DenseNet121 feature extractor achieved the best performance with 99.83% accuracy, and both DenseNet201 and MobileNet showed an accuracy of 99.77% for the classification of the image dataset. The behavior of sows classified by the DenseNet121 feature extractor showed that the HT in our study reduced (p < 0.05) the standing behavior of sows and also has a tendency to increase (p = 0.082) lying behavior. High dietary fiber treatment tended to increase (p = 0.064) lying and decrease (p < 0.05) the standing behavior of sows, but there was no change in sitting under HT conditions.

• Smart Media Journal
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• v.11 no.4
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• pp.9-18
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• 2022

Recently, research and system using AI is rapidly increasing in various fields. Smart farm using artificial intelligence and information communication technology is also being studied in agriculture. In addition, data-based precision agriculture is being commercialized by convergence various advanced technology such as autonomous driving, satellites, and big data. In Korea, the number of commercialization cases of facility agriculture among smart agriculture is increasing. However, research and investment are being biased in the field of facility agriculture. The gap between research and investment in facility agriculture and open-air agriculture continues to increase. The fields of fruit trees and plant factories have low research and investment. There is a problem that the big data collection and utilization system is insufficient. In this paper, we are proposed the system for determining the fruit tree growth stage using a deep learning-based object detection model. The system was proposed as a hybrid app for use in agricultural sites. In addition, we are implemented an object detection function for the fruit tree growth stage determine.

• Journal of Broadcast Engineering
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• v.17 no.5
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• pp.817-826
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• 2012

This paper presents a robust viewpoint estimation algorithm for Moving Parallax Barrier mobile 3D display in sudden illumination changes. We analyze the previous viewpoint estimation algorithm that consists of the Viola-Jones face detector and the feature tracking by the Optical-Flow. The sudden changes in illumination decreases the performance of the Optical-flow feature tracker. In order to solve the problem, we define a novel performance measure for the Optical-Flow tracker. The overall performance can be increased by the selective adoption of the Viola-Jones detector and the Optical-flow tracker depending on the performance measure. Various experimental results show the effectiveness of the proposed method.

• International conference on construction engineering and project management
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• 2022.06a
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• pp.344-352
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• 2022

Accurate indoor localization of construction workers and mobile assets is essential in safety management. Existing positioning methods based on GPS, wireless, vision, or sensor based RTLS are erroneous or expensive in large-scale indoor environments. Tightly coupled sensor fusion mitigates these limitations. This research paper proposes a state-of-the-art positioning methodology, addressing the existing limitations, by integrating Stereo Visual Inertial Odometry (SVIO) with fiducial landmarks called AprilTags. SVIO determines the relative position of the moving assets or workers from the initial starting point. This relative position is transformed to an absolute position when AprilTag placed at various entry points is decoded. The proposed solution is tested on the NVIDIA ISAAC SIM virtual environment, where the trajectory of the indoor moving forklift is estimated. The results show accurate localization of the moving asset within any indoor or underground environment. The system can be utilized in various use cases to increase productivity and improve safety at construction sites, contributing towards 1) indoor monitoring of man machinery coactivity for collision avoidance and 2) precise real-time knowledge of who is doing what and where.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.45 no.4
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• pp.34-40
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• 2008

This paper presents a vision based walking robot control system using hand shape recognition. To recognize hand shapes, the accurate hand boundary needs to be tracked in image obtained from moving camera. For this, we use an active contour model-based tracking approach with mean shift which reduces dependency of the active contour model to location of initial curve. The proposed system is composed of four modules: a hand detector, a hand tracker, a hand shape recognizer and a robot controller. The hand detector detects a skin color region, which has a specific shape, as hand in an image. Then, the hand tracking is performed using an active contour model with mean shift. Thereafter the hand shape recognition is performed using Hue moments. To assess the validity of the proposed system we tested the proposed system to a walking robot, RCB-1. The experimental results show the effectiveness of the proposed system.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1074-1081
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• 2007

This paper presents a method for real-time face detection and tracking which combined Adaboost and Camshift algorithm. Adaboost algorithm is a method which selects an important feature called weak classifier among many possible image features by tuning weight of each feature from learning candidates. Even though excellent performance extracting the object, computing time of the algorithm is very high with window size of multi-scale to search image region. So direct application of the method is not easy for real-time tasks such as multi-task OS, robot, and mobile environment. But CAMshift method is an improvement of Mean-shift algorithm for the video streaming environment and track the interesting object at high speed based on hue value of the target region. The detection efficiency of the method is not good for environment of dynamic illumination. We propose a combined method of Adaboost and CAMshift to improve the computing speed with good face detection performance. The method was proved for real image sequences including single and more faces.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1005-1013
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• 2008

This paper describes a new sensor system for 3D range measurement using the structured infrared light. Environment and obstacle sensing is the key issue for mobile robot localization and navigation. Laser scanners and infrared scanners cover $180^{\circ}$ and are accurate but too expensive. Those sensors use rotating light beams so that the range measurements are constrained on a plane. 3D measurements are much more useful in many ways for obstacle detection, map building and localization. Stereo vision is very common way of getting the depth information of 3D environment. However, it requires that the correspondence should be clearly identified and it also heavily depends on the light condition of the environment. Instead of using stereo camera, monocular camera and the projected infrared light are used in order to reduce the effects of the ambient light while getting 3D depth map. Modeling of the projected light pattern enabled precise estimation of the range. Identification of the cells from the pattern is the key issue in the proposed method. Several methods of correctly identifying the cells are discussed and verified with experiments.

• Proceedings of the Korean Information Science Society Conference
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• 2012.06d
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• pp.55-57
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• 2012

최근의 정보통신 기술의 발달은 의료의 중심을 기존의 진단 및 치료에서 예방으로 이동하게 하였다. 이에 따라 환자 뿐 아니라 건강에 관심이 많은 일반인들이 병원 밖에서도 스스로 건강 증진을 위해 질병 예방을 수행할 수 있도록 지원하는 셀프케어 시스템들이 개발되어지고 있다. 그러나 현재 개발되어지고 있는 셀프케어 시스템들은 대부분 회원 등록의 과정이 필수적이며, 또한 회원 등록 과정에서 자가진단을 위해 성별과 같은 기본적인 정보를 수동적으로 입력해야 하는 번거로움이 있다. 따라서 본 논문에서는 사용자의 음성과 영상을 이용한 성별 인식을 통해 비 등록 사용자에 대한 기본정보를 자동으로 인식하고 온톨로지를 이용한 자가진단 서비스에 적용함으로써 회원 등록을 원치 않는 비 등록 사용자에 대한 편의성을 고려하였다. 또한 온톨로지를 이용한 자가진단 서비스의 진단 결과로 질환에 대한 정의 및 증상, 치료 방법을 설명하고 증상의 경중에 따라 방문 치료할 진료과에 대한 정보를 제공함으로써 사용자가 스스로 건강을 진단하고 진단결과에 따라 간단한 치료를 할 수 있으며, 증상의 악화를 예방할 수 있도록 도와준다.