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성기열,유준,Sung, Gi-Yeul,Lyou, Joon 한국군사과학기술학회 2010 한국군사과학기술학회지 Vol.13 No.5
This paper presents a vision-based robust off-road terrain classification method against environmental variation. As a supervised classification algorithm, we applied a neural network classifier using wavelet features extracted from wavelet transform of an image. In order to get over an effect of overall image feature variation, we adopted environment sensors and gathered the training parameters database according to environmental conditions. The robust terrain classification algorithm against environmental variation was implemented by choosing an optimal parameter using environmental information. The proposed algorithm was embedded on a processor board under the VxWorks real-time operating system. The processor board is containing four 1GHz 7448 PowerPC CPUs. In order to implement an optimal software architecture on which a distributed parallel processing is possible, we measured and analyzed the data delivery time between the CPUs. And the performance of the present algorithm was verified, comparing classification results using the real off-road images acquired under various environmental conditions in conformity with applied classifiers and features. Experiments show the robustness of the classification results on any environmental condition.
성기열,곽동민,곽기호,김도종,유준,Sung, Gi-Yeul,Kwak, Dong-Min,Kwak, Ki-Ho,Kim, Do-Jong,Lyou, Joon 한국군사과학기술학회 2007 한국군사과학기술학회지 Vol.10 No.4
This paper introduces the design techniques of an IR module using the 2-D array un-cooled type infrared detector which is applied to the individual combat weapon. Considering the size and weight of the hand carried weapon system, we used a very small-sized detector and applied an adaptive temperature control algorithm so that the operation consumed with low power can be possible. We applied the AR(Auto Regressive) filter to improve the signal-to-noise ratio in a thermal image processing step. We also applied the plateau equalization and boundary enhancement techniques to improve the visibility for human visual system.
Support Vector Machine 기반 지형분류 기법
성기열(Gi-Yeul Sung),박준성(Joon-Sung Park),유준(Joon Lyou) 대한전자공학회 2008 電子工學會論文誌-SC (System and control) Vol.45 No.6
야외 환경에서 무인차량의 자율주행에 있어서 효과적인 기동제어를 위해서는 장애물 탐지나 지형의 기하학적인 형상 정보외에 탐지된 장애물 및 지형 표면에 대한 재질 유형의 인식 및 분류 또한 중요한 요소이다. 영상 기반의 지표면 분류 알고리듬은 입력 영상에 대한 전처리, 특징추출, 분류 및 후처리의 절차로 수행된다. 본 논문에서는 컬러 CCD 카메라로부터 획득된 야외 지형영상에 대해 색상 및 질감 정보를 이용한 지형분류 기법을 제시한다. 전처리 단계에서 색공간 변환을 수행하고, 색상과 질감 정보를 이용하기 위해 웨이블릿 변환 특징을 사용하였으며, 분류기로서는 SVM(support vector machine)을 적용하였다. 야외 환경에서 획득된 실영상에 대한 실험을 통하여 제시된 알고리듬의 분류 성능을 평가하였으며, 제시된 알고리듬에 의한 효과적인 야지 지형분류의 가능성을 확인하였다. For effective mobility control of UGV(unmanned ground vehicle), the terrain cover classification is an important component as well as terrain geometry recognition and obstacle detection. The vision based terrain cover classification algorithm consists of pre-processing, feature extraction, classification and post-processing. In this paper, we present a method to classify terrain covers based on the color and texture information. The color space conversion is performed for the pre-processing, the wavelet transform is applied for feature extraction, and the SVM(support vector machine) is applied for the classifier. Experimental results show that the proposed algorithm has a promising classification performance.
성기열(Gi-Yeul Sung),곽동민(Dong-Min Kwak),이승연(Seung-Youn Lee),유준(Joon Lyou) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.4
For effective mobility control of unmanned ground vehicles in outdoor off-road environments, terrain cover classification technology using passive sensors is vital. This paper presents a novel method for terrain classification based on color and texture information of off-road images. It uses a neural network classifier and wavelet features. We exploit the wavelet mean and energy features extracted from multi-channel wavelet transformed images and also utilize the terrain class spatial coordinates of images to include additional features. By comparing the classification performance according to applied features, the experimental results show that the proposed algorithm has a promising result and potential possibilities for autonomous navigation.
이승연,곽동민,성기열,Lee, Seung-Youn,Kwak, Dong-Min,Sung, Gi-Yeul 한국군사과학기술학회 2010 한국군사과학기술학회지 Vol.13 No.4
The ability to navigate autonomously in off-road terrain is the most critical technology needed for Unmanned Ground Vehicles(UGV). In this paper, we present a method for vision-based terrain cover classification using DCT features. To classify the terrain, we acquire image from a CCD sensor, then the image is divided into fixed size of blocks. And each block transformed into DCT image then extracts features which reflect frequency band characteristics. Neural network classifier is used to classify the features. The proposed method is validated and verified through many experiments and we compare it with wavelet feature based method. The results show that the proposed method is more efficiently classify the terrain-cover than wavelet feature based one.
강재웅(Jai-Woong Kang),성기열(Gi-Yeul Sung),정영헌(Young-Hun Jung),김수진(Su-Jin Kim) 한국컴퓨터정보학회 2013 한국컴퓨터정보학회 학술발표논문집 Vol.21 No.2
본 논문에서는 IR 영상추적을 위하여 가린 표적의 실제 중심을 예측하는 추적창 조절(target window adjustment) 기법을 제시한다. 대표적 분할 추적(patch tracking) 방식인 특징점 추적(feature point tracking)은 표적의 중심과 특징점을 coupling하여 가린 표적의 실제 중심을 예측할 수 있으나, 형상 정보가 적은 영상에서 표적의 ROI(Region of Interest)는 특징점의 분포만으로는 구할 수 없다. 본 논문에서는 상관추적의 추적창 조절 기법과 특징점 추적의 coupling 기법을 결합하여 표적이 장애물에 가리는 경우에도 안정적인 추적창을 유지한다.
높이 자동제어가 가능한 차량 장착형 지뢰탐지장치에 대한 연구
강신천,정호영,정대연,성기열,김도종,김지웅,Kang, Sin Cheon,Chung, Hoe Young,Jung, Dae Yon,Sung, Gi Yeul,Kim, Do Jong,Kim, Ji Woong 한국군사과학기술학회 2017 한국군사과학기술학회지 Vol.20 No.4
The vehicle-mounted mine detection system with large detection sensor modules can search wide areas with a fast detection speed. To mount the heavy mine detectors on a manned or unmanned vehicle, it is necessary to design the detector driving mechanism and control system based on the considerations driven from the characteristic analysis and the operation requirements of the detection system. Furthermore, while operating the mine detector mounted on a mobile vehicle, it is significant to keep the height from the ground to sensors within a certain distance in order to get a qualified detection performance. As the mine detection sensor, we used ground penetrating radar widely used to geotechnical exploration, mine detection and etc. In this paper, we introduce a driving mechanism through analyzing the characteristics of the vehicle-mounted mine detection system. We also suggest a method to automatically control the distance between the ground and GPR by utilizing the GPR output values, used to detect mines at the same time.