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전재춘(Jaechoon Chon),Shankar Sastry 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.1
In the field of camera motion research, it is widely held that the position (movement) and pose (rotation) of cameras are correlated and cannot be independently separated. A new equation based on inner product is proposed here to independently separate the position and pose. It is proved that the position and pose are not correlated and the equation is applied to estimation of the camera exterior parameters using a real image and 3D data.
[차량운동성능부문] 승차감 향상과 저 에너지 소비를 위한 새로운 능동현가장치의 구조 제안
전재춘(Jaechoon Chon),김진기(Jinki Kim),한진욱(Jinwook Han),김경욱(Jyung-Ok Kim) 한국자동차공학회 2001 한국자동차공학회 춘 추계 학술대회 논문집 Vol.2001 No.11_2
This paper presents a new design of actuator of active suspension system for low energy consumption and good ride comfort. This new active system is designed to have desirable features of the Full Bandwidth Active Suspension System (FBASS) and the Slow Active Suspension System (SASS). The system thus provides low energy consumption with electro-hydraulic system and good ride comport with electro-hydraulic and pneumatic systems. The actuators of the proposed system are composed of two parts. The upper part having double acting cylinder provides the FBASS functionality and the lower part with single acting cylinder supports the vehicle body along with the coil spring and provides the SASS functionality. Stiffness of the coil spring used in the structure equals that of the coil spring used in SASS. By applying the hydraulic pressure to both the upper and the lower parts of the actuator, the resulting pressure will be about half of the hydraulic pressure in SASS. This will result in reduction of energy consumption that is one of the main issues of the existing structures. However, in order to achieve this low energy consumption for the proposed active suspension system (ASS), we need to increase the size of the accumulator for storing the temporal flux supplied by the hydraulic pump at the descent of the vehicle body.
가변 분해능을 가진 2차원 히스토그램을 이용한 강건한 광류인식
전재춘,김형석,CHON Jaechoon,KIM Hyongsuk 대한전자공학회 2005 電子工學會論文誌-SP (Signal processing) Vol.42 No.3
The proposed algorithm is to achieve the robust optical flow detection which is applicable for the case that the outlier rate is over $80\%$. If the outlier rate of optical flows is over $30\%$, the discrimination between the inliers and outlier with the conventional algorithm is very difficult. The proposed algorithm is to overcome such difficulty withthree steps of grouping algorithm; 1) constructing the 2 D histogram with two axies of the lengths and the directions of optical flows. 2) sorting the number of optical flows in each bin of the two-dimensional histogram in the descendingorder and removing some bins with lower number of optical flows than threshold 3) increasing the resolution of the two-dimensional histogram if the number of optical flows in a specific bin is over $20\%$ and decreasing theresolution if the number of optical flows is less than $10\%$. Such processing is repeated until the the number of optical flows falls into the range of $10\%-20\%$ in all the bins. The proposed algorithm works well on the different kinds of images with many of wrong optical flows. Experimental results are included. 두 영상에서 정확한 광류를 얻고자 할 경우, 잘못 정합된 광류의 수가 전체의 $80\%$이상일 경우에도, 정합이 잘된 광류만을 빠르고 안정적으로 추출하는 방법을 제안하였다. 제안한 방법은 다음과 같은 단계로 구성된 그룹화 알고리즘이다. 1)광류의 방향과 길이성분으로 구성된 2차원 히스토그램을 구성한 후, 2)2차원 히스토그램에서 광류수가 높은 그룹들부터 내림차 순으로 정리한 후 각 그룹에서 광류수가 적은 그룹은 제거한다. 또, 3)선택된 그룹들의 광류수가 $20\%$ 이상일때는 히스토그램의 분해율를 증가 시키고, $10\%$ 이하일 경우에는 히스토그램의 분해율을 감소시켜서 위 과정을 반복한다. 선택된 그룹들의 광류수가 $10\%$에서 $20\%$사이에 올 때 까지 이 반복을 계속한다. 제안한 알고리즘을 잘못된 광류가 많이 포함된 다양한 종류의 영상에 대해서 적용한 결과 강건하게 정합이 되어 잘못된 광류를 제거할 수 있었다. 이 논문은 이에 대한 실험결과를 포함하였다.