• Journal of Institute of Control, Robotics and Systems
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• v.13 no.3
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• pp.249-255
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• 2007

Under the situation of a fire, it is difficult for a rescue robot to use sensors such as vision sensor, ultrasonic sensor or laser distance sensor because of diffusion, refraction or block of light and sound by dense smoke. But, braille blocks that are installed for the visaully impaired at public places such as subway stations can be used as a map for autonomous mobile robot's localization and navigation. In this paper, we developed a laser sensor stan device which can detect braille blcoks in spite of dense smoke and integrated the device to the robot developed to carry out rescue mission in various hazardous disaster areas at KIST. We implemented MCL algorithm for robot's attitude estimation according to the scanned data and transformed a braille block map to a topological map and designed a nonlinear path tracking controller for autonomous navigation. From various simulations and experiments, we could verify that the developed laser sensor device and the proposed localization method are effective to autonomous tracking of braille blocks and the autonomous navigation robot system can be used for rescue under fire.

• Journal of the Korean Society of Industry Convergence
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• v.4 no.4
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• pp.441-450
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• 2001

This dissertation deal with over-all wireless communication technology. And introduce wireless communication technology analytically that it use for Home-LAN communication technology (HomeRF, Bluetooth, IEEE 802.11, HIPERLAN, etc). Home-LAN communications issue by the terminal field of the latest high-speed network construction. This technologies possesses characteristics and significances as the representative technology using in Home-LAN communication technology. Also, the method of application is conditional on individually. Wireless LAN put Home-LAN communications to practical use. Bluetooth have practical use for an individual mobile communications with internet. HomeRF have a vision that the construction of wireless system in house purely. Therefore, this dissertation investigates merits and demerits between those technologies. And then leads the most compatible technology for application of Home-LAN. Finally, this thesis have a view of the development course hereafter.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.10a
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• pp.950-953
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• 2007

The Intelligent Space(ISpace) provides challenging research fields for surveillance, human-computer interfacing, networked camera conferencing, industrial monitoring or service and training applications. ISpace is the space where many intelligent devices, such as computers and sensors, are distributed. According to the cooperation of many intelligent devices, the environment, it is very important that the system knows the location information to offer the useful services. In order to achieve these goals, we present a method for representing, tracking and human following by fusing distributed multiple vision systems in ISpace, with application to pedestrian tracking in a crowd.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.30-34
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• 1998

Path Planning is one of the important fields in robot technologies. Local path planning may be done in on-line modes while recognizing an environment of robot by itself. In dynamic environments to obtain fluent information for environments vision system as a sensing equipment is a one of the most necessary devices for safe and effective guidance of robots. If there is a predictor that tells what future sensing outputs will be, robot can respond to anticipated environmental changes in advance. The tracking of obstacles has a deep relationship to the prediction for safe navigation. We tried to deal with active contours, that is snakes, to find out the possibilities of stable tracking of objects in image plane. Snakes are defined based on energy functions, and can be deformed to a certain contour form which would converge to the minimum energy states by the forces produced from energy differences. By using point algorithm we could have more speedy convergence time because the Brent's method gives the solution to find the local minima fast. The snake algorithm may be applied to sequential image frames to track objects in the images by these characteristics of speedy convergence and robust edge detection ability.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.519-524
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• 2009

This paper describes a new sensor system for 3D environment perception using stereo structured infrared light sources and a camera. 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 two projected infrared light sources 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. Two successive captures of the image with left and right infrared light projection provide several benefits, which include wider area of depth measurement, higher spatial resolution and the visibility perception.

• Journal of Korea Multimedia Society
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• v.25 no.1
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• pp.39-51
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• 2022

Image-based gender classification and age estimation of human are classic problems in computer vision. Most of researches in this field focus just only one task of either gender classification or age estimation and most of the reported methods for each task focus on accuracy performance and are not computationally light. Thus, running both tasks together simultaneously on low cost mobile or embedded systems with limited cpu processing speed and memory capacity are practically prohibited. In this paper, we propose a novel light-weight gender classification and age estimation method based on ensemble multitasking deep learning with light-weight processing neural network architecture, which processes both gender classification and age estimation simultaneously and in real-time even for embedded systems. Through experiments over various well-known datasets, it is shown that the proposed method performs comparably to the state-of-the-art gender classification and/or age estimation methods with respect to accuracy and runs fast enough (average 14fps) on a Jestson Nano embedded board.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.39 no.2
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• pp.119-128
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• 2016

Use of ICT in Government has ability to improve service delivery to its citizens, and yet many developing countries have lagged behind in the implementation of e-Government. Many e-Government initiatives also failed to achieve their objectives in developing countries. This paper therefore aims to identify critical failure or success factors in Kenya, using Heeks' Factor Model. A survey questionnaire was developed and data were collected and analyzed from officials and interested citizens. The analysis results enabled to highlight seven specific success and failure factors, and their constituent elements in Kenya. The Kenyan overall e-Government implementation score belongs to the Zone of Improvement (3.52 of total 5.0), which means partial success or failure. The enablers of e-Government projects are good strategy formulation, and internal and external drive, whereas main failures of e-Government are weak ICT infrastructure. The areas for improvement are project management, design, competencies and funding. Data analysis highlights both strengths and weaknesses for each factor or variable. In particular, Kenyan government excels at the drive for change by top to bottom government officers as well as external stakeholders, while the government officers who are using e-Government are satisfied with the availability of vision, strategy and plan of e-Government implementation. Both technologies and e-transactions laws were the worst of all the variables in e-Government implementation. Two areas should be improved using immediate corrective action. In-depth study reveals that government officers and citizens can't fully use their laptop and mobile devices due to the lack of both ICT network and its operating technology, and legal system associated with the transaction of business information. Finally, the study ends up with recommendations for policy makers to shape the future of e-Government system in both developing and developed countries.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.1
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• pp.63-70
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• 2023

Due to the spread of high-definition black boxes and the introduction of mobile applications such as 'Smart Citizens Report' and 'Safety Report', the number of public interest reports for violations of Traffic Law has increased rapidly, resulting in shortage of police personnel to handle them. In this paper, we describe the development of a system that can automatically detect lane violations which account for the largest proportion of public interest reporting videos for violations of traffic laws, using deep learning algorithms. In this study, a method for recognizing a vehicle and a solid line object using a YOLO model and a Lanenet model, a method for tracking an object individually using a deep sort algorithm, and a method for detecting lane change violations by recognizing the overlapping range of a vehicle object's bounding box and a solid line object are described. Using this system, it is expected that the shortage of police personnel in charge will be resolved.

• Journal of the Korea Society of Computer and Information
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• v.15 no.9
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• pp.129-136
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• 2010

With mobile computing, wireless sensor network and sensor technologies, ubiquitous computing services are being realized and could satisfy the feasibility of ubiquitous healthcare to everyone. This u-Healthcare service can improve life quality of human since medical service can be provided to anyone, anytime, and anywhere. To confirm the vision of u-Healthcare service, we've implemented a healthcare system for heart disease patient which is composed of two components. Front-end collects various signals such as temperature, blood pressure, SpO2, and electrocardiogram, etc. As a backend, medical information server accumulates sensing data and performs back-end processing. To simply transfer these sensing values to a medical team may be too trivial. So, we've designed a model based on context awareness for more improved medical service which is based on artificial neural network. Through rigid experiments, we could confirm that the proposed system can provide improved medical service.

• Journal of IKEEE
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• v.14 no.3
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• pp.224-231
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• 2010

Automatic detection of objects in images has been one of core challenges in the areas such as computer vision and pattern analysis. Especially, with the recent deployment of personal mobile devices such as smart phone, such technology is required to be transported to them. Usually, these smart phone users are equipped with devices such as camera, GPS, and gyroscope and provide various services through user-friendly interface. However, the smart phones fail to give excellent performance due to limited system resources. In this paper, we propose a new scheme to improve object recognition performance based on pre-computation and simple local features. In the pre-processing, we first find several representative parts from similar type objects and classify them. In addition, we extract features from each classified part and train them using regression functions. For a given query image, we first find candidate representative parts and compare them with trained information to recognize objects. Through experiments, we have shown that our proposed scheme can achieve resonable performance.