• 로봇학회논문지
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• 제17권3호
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• pp.334-338
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• 2022

In visual simultaneous localization and mapping (vSLAM), the correct recognition of a place benefits in relocalization and improved map accuracy. However, its performance is significantly affected by the environmental conditions such as variation in light, viewpoints, seasons, and presence of dynamic objects. This research addresses the problem of feature occlusion caused by interference of dynamic objects leading to the poor performance of visual place recognition algorithm. To overcome the aforementioned problem, this research analyzes the role of scene semantics in correct detection of a place in challenging environments and presents a semantics aided visual place recognition method. Semantics being invariant to viewpoint changes and dynamic environment can improve the overall performance of the place matching method. The proposed method is evaluated on the two benchmark datasets with dynamic environment and seasonal changes. Experimental results show the improved performance of the visual place recognition method for vSLAM.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.431-436
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• 1989

A rule-based recognition system for Korean spoken place names using anti-formants which is analyzed by ARMA model is presented. The recognition system is composed of three parts; the extraction, the recognition and the recognition support. As a result of experiment, the recognition rates of city place names was 90.9%.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.19-21
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• 2004

In many cases, human's visual recognition depends on contextual information. We need to use effective feature information for performing vigorous place recognition to illumination, noise, etc. In the existing cases that use edge and color, etc., visual recognition doesn't cope effectively with real environment. To solve this problem, using natural marker, we improve the efficiency of place recognition.

• 로봇학회논문지
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• 제6권3호
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• pp.247-254
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• 2011

This paper presents a method of sonar grid map matching for topological place recognition. The proposed method provides an effective rotation invariant grid map matching method. A template grid map is firstly extracted for reliable grid map matching by filtering noisy data in local grid map. Using the template grid map, the rotation invariant grid map matching is performed by Ring Projection Transformation. The rotation invariant grid map matching selects candidate locations which are regarded as representative point for each node. Then, the topological place recognition is achieved by calculating matching probability based on the candidate location. The matching probability is acquired by using both rotation invariant grid map matching and the matching of distance and angle vectors. The proposed method can provide a successful matching even under rotation changes between grid maps. Moreover, the matching probability gives a reliable result for topological place recognition. The performance of the proposed method is verified by experimental results in a real home environment.

• 방송공학회논문지
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• 제21권4호
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• pp.569-577
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• 2016

위치 기반 서비스(LBS; Location Based Service)를 위한 장소 인식 기술은 사용자 중심의 서비스를 위한 중요 기술 중 하나이다. 이미지 특징을 이용한 장소 인식 방법 중에서 FLANN(Fast Library for performing Approximate Nearest Neighbor)의 이미지 어휘 트리를 이용하면 처리 속도가 빠르지만 가려짐 등으로 인해 인식의 정확도가 높지 않다. 본 논문에서는 SURF(Speeded Up Robust Features)를 사용한 쿼드(quad) 어휘 트리 기반의 장소 인식 방법을 제안한다. 학습 단계에서 데이터베이스 이미지를 세 단계의 공간 피라미드로 표현하고 각 영역에 대한 어휘 트리를 구성한다. 질의 이미지도 세 단계의 공간 피라미드로 표현하고 각 단계별로 어휘 트리 기반 인식을 수행한다. 또한 매칭된 특징 간의 호모그래피(homography) 관계를 측정하고 이를 만족하는 영역의 개수를 고려함으로써 최종 인식의 성능을 향상시켰다.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제14권5호
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• pp.477-481
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• 2008

이동 중 사용자에게 필요한 정보를 제공하기 위해서는 장소를 인지하는 기술이 필요하다. 본 논문에서는 건물 내에서 이동하면서 카메라에 의해 포착된 영상 정보를 분석하여 현재 장소를 파악하고 카메라 영상에 관련 정보를 증강하는 비디오 기반 실시간 장소인식 시스템을 제안한다. 영상의 전역적 특징을 이용한 기존 연구들은 장면의 부분적인 폐색이나 잡음에 민감하고, 물체인식을 행하는 지역적 특징 의존 방식은 계산량이 많아 실시간 적용이 어렵다. 또한, 그러한 특징들로부터 장소인식 결과를 도출하기 위해서는 통계적 그래프 기반 모델이나 베이시안 네트웍등이 이용되어 왔는데, 전자의 경우 장소 이동의 확률을 얻기 위한 많은 통계 데이타가 필요하며, 후자는 장소 이동문맥을 활용하지 못하므로 물체 인식 결과에만 의존하는 단점이 있다. 본 논문에서는 장소 문맥 정보를 활용하면서 영상의 지역적, 전역적 특징추출법의 결합을 통해 부분 폐색 및 잡음에 대한 전역적 방법의 민감성을 보완하고, 지역적 방법의 느린 처리속도를 보완한 시스템을 제안한다. 제안된 방법을 건물 내부를 이동하면서 장소에 대한 정보를 얻는 정보증강 시스템에 적용하여 실시간 성능을 확인하였다.

• 로봇학회논문지
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• 제14권1호
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• pp.8-13
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• 2019

Visual place recognition is widely researched area in robotics, as it is one of the elemental requirements for autonomous navigation, simultaneous localization and mapping for mobile robots. However, place recognition in changing environment is a challenging problem since a same place look different according to the time, weather, and seasons. This paper presents a feature extraction method using a deep convolutional auto-encoder to recognize places under severe appearance changes. Given database and query image sequences from different environments, the convolutional auto-encoder is trained to predict the images of the desired environment. The training process is performed by minimizing the loss function between the predicted image and the desired image. After finishing the training process, the encoding part of the structure transforms an input image to a low dimensional latent representation, and it can be used as a condition-invariant feature for recognizing places in changing environment. Experiments were conducted to prove the effective of the proposed method, and the results showed that our method outperformed than existing methods.

• 한국농촌건축학회논문집
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• 제24권2호
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• pp.1-11
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• 2022

Purpose: The purpose of this study is to analyze image factors of places located in natural and humanistically superior geographical locations. It aims to analyze image recognition and spatiality of scenically historical Sahmyook University, located northeast of Gangneung, through standardization. Method: The analysis method of landscape is composed of data investigation and research, and elements of how students, faculty, and visitors recognize a place's beautiful image will be examined. Result: A phenomenological approach was applied to how the images of beautiful place were set by FGI group meeting, and how such factors affect beautiful place's perception from the user's point of view. When looking at comprehensive ranking of image factors in recognition of beautiful landscapes, factors corresponding to forest landscapes appear at the top rank. In determining factors for its recognition, shared space with natural elements such as water, trees, flowers, etc. has been analyzed to have the biggest influence. Among factors corresponding to urban landscape, 'streets and pedestrian paths' is of medium importance and are recognized for it is artificial structure coexisting with natural elements shared with humans. The image corresponding to 'city area' and 'architecture' was analyzed to have insignificant influence on beautiful places' image recognition for artificial element was prioritized.

• 한국중재학회지:중재연구
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• 제18권3호
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• pp.3-22
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• 2008

The purpose of this article is to make research on the meaning and function of the place of arbitration for, the international commercial arbitration. For this purpose is to analyse regal issue the meaning and function of the place of arbitration on the international commercial arbitration relating to the arbitration law and the recognition and enforcement of foreign arbitral awards. In this Article is dealt with Art. 2 para. 1 of the Korean Arbitration Act(KAA). The KAA corresponds with the connection to the place of arbitration, the internationally prevailing 'the principle of territoriality'. The place of arbitration is therefore great practical relevance, as there is not only the existing legal supplements on the arbitration procedure applies, but also in the state courts rule for the support and control of the tribunal are responsible. In this context, this article first intends the importance of the place of arbitration for determination of the applicable procedural law. Secondly, this article intends the importance of the place of arbitration for the recognition and enforcement of foreign arbitral awards under "the United Nations Convention on the Recognition and Enforcement of Foreign Arbitral Awards(New York Convention)". In conclusion, this article stresses, that the place of arbitration setting under Article 21 para. 1 KAA determine not only the applicable arbitration law, but also the jurisdiction of state courts in lawsuit for repeal of arbitration and qualification as a domestic or foreign arbitration award.

• 로봇학회논문지
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• 제1권2호
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• pp.172-179
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• 2006

In this paper, we present a practical place and object recognition method for guiding visitors in building environments. Recognizing places or objects in real world can be a difficult problem due to motion blur and camera noise. In this work, we present a modeling method based on the bidirectional interaction between places and objects for simultaneous reinforcement for the robust recognition. The unification of visual context including scene context, object context, and temporal context is also. The proposed system has been tested to guide visitors in a large scale building environment (10 topological places, 80 3D objects).