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임종인(Jongin Lim),허병호(Byeongho Heo),최진영(Jin Young Choi) 대한전자공학회 2016 대한전자공학회 학술대회 Vol.2016 No.6
This paper proposes a flower detection scheme that can be used for an orchard automation system with small amount of training data. Inspired by the basic structure of a flower surrounded by petals, we design the algorithm combining three different filters: Petal Filter, Center Filter, and Saliency Filter. The filters exploit features of color, and enable the system to detect flowers based on a center-surround difference. Our algorithm has been tested in the real world. The resulting system shows robust performance to illumination changes and deformation of flowers with low computational loads.
이병주(ByeongJu Lee),허병호(Byeongho Heo),최진영(Jin Young Choi) 대한전자공학회 2017 대한전자공학회 학술대회 Vol.2017 No.6
This paper proposes a deep neural network generating an autonomous driving strategy using both reinforcement learning and supervised learning. To make the deep neural network learn lane keeping and lane changing. e develop a simulation environment of 3-lane road by modify a TORCS simulator. Following driver`s intention, the driving strategy network controls an autonomous vehicle`s steering. Through experiments, we show that the proposed method operates the autonomous vehicle to travel according to the driver`s intention, and the performance of the proposed method is trained successfully by reinforcement learning and supervised learning.