• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.7
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• pp.901-906
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• 2007

Algorithms of path planning and obstacle avoidance are essential to autonomous mobile robots that are working in unknown environments in the real time. This paper presents a new navigation algorithm for an autonomous mobile robot with vision and IR sensors using fuzzy rules. Temporary targets are set up by distance variation method and then the algorithms of trajectory planning and obstacle avoidance are designed using fuzzy rules. In this approach, several digital image processing technique is employed to detect edge of obstacles and the distances between the mobile robot and the obstacles are measured. An autonomous mobile robot with single vision and IR sensors is built up for experiments. We also show that the autonomous mobile robot with the proposed algorithm is navigating very well in complex unknown environments.

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
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• 2004.03a
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• pp.493-498
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• 2004

The objective of the present study is to compare various conventional and recently evolved satellite image-processing techniques and to ascertain the best possible technique that can identify and position of aquaculture farms accurately in and around the Younggwang coastal area. Several conventional techniques performed to extract such information fiom the Landsat-TM imagery do not seem to yield better information about the aquaculture farms, and lead to misclassification. The large errors between the actual and extracted aquaculture farm information are due to existence of spectral confusion and inadequate spatial resolution of the sensor. This leads to possible occurrence of mixture pixels or 'mixels' of the source of errors in the classification techniques. Understanding the confusing and mixture pixel problems requires the development of efficient methods that can enable more reliable extraction of aquaculture farm information. Thus, the more recently evolved methods such as the step-by-step partial spectral end-member extraction and linear spectral unmixing methods are introduced. The farmer one assumes that an end-member, which is often referred to as 'spectrally pure signature' of a target feature, does not appear to be a spectrally pure form, but always mix with the other features at certain proportions. The assumption of the linear spectral unmxing is that the measured reflectance of a pixel is the linear sum of the reflectance of the mixture components that make up that pixel. The classification accuracy of the step-by-step partial end-member extraction improved significantly compared to that obtained from the traditional supervised classifiers. However, this method did not distinguish the aquaculture ponds and non-aquaculture ponds within the region of the aquaculture farming areas. In contrast, the linear spectral unmixing model produced a set of fraction images for the aquaculture, water and soil. Of these, the aquaculture fraction yields good estimates about the proportion of the aquaculture farm in each pixel. The acquired proportion was compared with the values of NDVI and both are positively correlated (R$^2$ =0.91), indicating the reliability of the sub-pixel classification.ixel classification.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.46 no.2
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• pp.75-83
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• 2009

This paper presents a new mobile robot localization method for indoor robot navigation. The method uses color-coded landmarks on the ceiling and a camera is installed on the robot facing the ceiling. The proposed "cell-coded map", with the use of only nine different kinds of color-coded landmarks distributed in a particular way, helps reduce the complexity of the landmark structure. This technique is applicable for navigation in an unlimited size of indoor space. The structure of the landmarks and the recognition method are introduced. And 2 rigid rules are also used to ensure the correctness of the recognition. Experimental results prove that the method is useful.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.5
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• pp.287-294
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• 2013

Binary connected-component labeling is widely used in the fields of the image processing and the computer vision. Many kinds of labeling techniques have been developed, and two-scan is known as the fastest method among them. Traditionally pixel-based scan masks have been used for the first stage of the two-scan. Recently, block-based labeling techniques were introduced by C. Grana et. al. and L. He et. al. They are faster than pixel-based labeling methods. In this paper, we propose a new binary connected-component labeling technique with block-based labels and a pixel-based scan mask. The experimental results with various images show that the proposed method is faster than the He's which is known as the fastest method currently. The amount of performance enhancement is averagely from 3.9% to 22.4% according to the sort of the images.

• Journal of Korean Tunnelling and Underground Space Association
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• v.16 no.4
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• pp.387-402
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• 2014

In congested urban areas, constructions of tunnel structures have became necessary due to a lack of surface space. The excavation of any tunnel generated the ground disturbances of surrounding ground and displacements is major concern. Therefore, a study of tunnel stability is necessary. In this study, the authors have investigated the stability and failure pattern of tunnel through the model tunnel test. In this study, the close range photogrammetry was used to measure the ground deformation. The measured data was converted to displacement vectors and contours. And then it compared to FE analysis and empirical formula. In addition, this study presented the comparison between steel pipe reinforced model tunnel and unreinforced model tunnel. The ground deformation for both the steel pipe reinforced model tunnel and the unreinforced model tunnel was analysed.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.7 no.7
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• pp.1575-1581
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• 2003

As a society has progressed rapidly toward a highly advanced digital information age, a multimedia communication service for acquisition, transmission and storage of image data as well as voice has being commercialized externally and internally. However, in the process of digitalization or transmission of data, noise is generated by several causes, and researches for eliminating those noises have been continued until now. There were the existing FFT(fast fourier transform) and STFT(short time fourier transform) for removing noise but it's impossible to know information about time and time-frequency localization capabilities has conflictive relationship. Therefore, for overcoming these limits, wavelet transform which is presented as a new technique of signal processing field is being applied in many fields recently. Because it has time-frequency localization capabilities it's Possible for multiresolution analysis as well as easy to analyze various signal. And when two wavelet base were designed to form Hilbert transform pair, wavelet pair provide superior performance than the existing DWT(discrete wavelet transform) in data characteristic detection. Therefore in this parer, we removed impulse noise by using adaptive-length median filter and two dyadic wavelet base which is designed by truncated coefficient vector.

• The KIPS Transactions:PartB
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• v.18B no.1
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• pp.1-10
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• 2011

Reversible watermarking inserts watermark into digital media in such a way that visual transparency is preserved, which enables the restoration of the original media from the watermarked one without any loss of media quality. It has various applications, where high capacity and high visual quality are major requirements. This paper presents a new effective multi-round embedding scheme for the differential histogram-based reversible watermarking that satisfies high capacity requirements of the application. The proposed technique exploits the row-column cross scanning to fully utilize the locality of images when multi-round embedding phase to the message inserted image. Through experiments using multiple kinds of test images, we prove that the presented algorithm provides 100% reversibility, effectiveness of multi-round embedding, and higher visual quality, while maintaining the induced-distortion low.

• The KIPS Transactions:PartB
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• v.12B no.4 s.100
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• pp.379-386
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• 2005

This paper provides a rigorous theory for analysis of quantization effects and optimum filter bank design in quantized multidimensional subband filter banks. Even though subband filter design has been a hot topic for last decades, a few results have been reported on the subband filter with a quantizer. Each pdf-optimized quantizer is modeled by a nonlinear gain-plus-additive uncorrelated noise and embedded into the subband structure. Using polyphase decomposition of the analysis/synthesis filter banks, we derive the exact expression for the output mean square quantization error. Based on the minimization of the output mean square error, the technique for optimal filter design methodology is developed. Numerical design examples for optimum nonseparable paraunitary and biorthogonal filter banks are presented with a quincunx subsampling lattice. Through the simulation, $10\~20\;\%$ decreases in MSE have been observed compared with subband filter with no quantizers especially for low bit rate cases.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2006.05a
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• pp.346-351
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• 2006

본 논문은 콘크리트 표면 균열 영상에서 균열의 특징을 추출하기 위해, 영상 처리 기법을 적용하여 균열의 특징(길이, 폭, 방향)을 자동으로 추출 및 처리 할 수 있는 기법을 제안한다. 본 논문에서 적용된 영상 처리 기법으로는 균열 영상의 빛을 보정하기 위하여 모폴로지 기법인 채움(Closing)기법을 적용한다. 균열의 경계를 명확히 추출하기 위하여 고주파 강화 필터링을 적용한 후, 8가지 색상(검정, 빨강, 파랑, 초록, 노랑, 자주, 주황, 하늘)으로 명암 값을 분류하고 그 중 빈도수가 가장 높은 색상을 가진 명암 값을 제거한 후에 추출한 영상을 이진화한다. 이진화된 영상에서 콘크리트 표면 균열의 실거리 측정을 위한 임의의 선을 제거하기 위하여 위치 히스토그램을 적용하여 임의의 선을 제거한다. 임의의 선이 제거된 균열 영상에서 $5\times5$ 마스크를 적용하여 균열을 확대시키고, 3차례에 걸쳐 잡음 제거연산을 수행하여 균열의 후보 영역을 선택한 후, 후보 영역으로부터 특정 균열들을 추출한다. 추출된 특정 균열을 모폴로지 기법인 제거(Opening) 연산을 수행하여 균열의 특징이 일정하게 유지되게 하고 미세하게 끊어진 부분을 보정하여 균열의 특징(길이, 방향, 폭)을 측정한다. 실제 콘크리트 표면 균열영상을 대상으로 실험한 결과, 특정 균열이 효율적으로 추출되었고, 특정 균열의 길이, 방향, 폭의 등이 정확히 추출 및 계산되었다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.9
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• pp.4472-4477
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• 2013

This paper describes the color features of smoke in each standard color model in order to present the most suitable color model for somke detection in video surveillance system. Histogram intersection technique is used to analyze the difference characteristics between color of smoke and color of non smoke. The considered standard color models are RGB, YCbCr, CIE-Lab, HSV, and if the calculated histogram intersection value is large for the considered color model, then the smoke spilt characteristics are not good in that color model. If the calculated histogram intersection value is small, then the smoke spilt characteristics are good in that color model. The analyzed result shows that the RGB and HSV color models are the most suitable for color model based smoke detection by performing respectively 0.14 and 0.156 for histogram intersection value.