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디지털 영상 안정화를 위한 오일러각 기반 전역 움직임 추정 모델
곽휘권(Hwy-Kuen Kwak),유준(Joon Lyou) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.11
This paper treats the DIS (Digital Image Stabilization) problem subject to base motions such as translation, rotation and zoom. For the local motion estimation from a raw image, the Harris corner detection algorithm is exploited to extract feature points, and comparing those of consecutive images, the zoom ratio (scale factor) is computed. For the global motion estimation, an equivalent model is derived to account for a 3-dimensional composite motion from which the center point and Euler angle can be determined. Finally, the motion compensation follows. To show the effectiveness of the present DIS scheme, experimental results for synthetic images are illustrated.
GPS 수신불가 지역에서의 보행자 위치정보시스템의 설계 및 구현
곽휘권(Kwak, Hwy-Kuen),박상훈(Park, Sang-Hoon),이춘우(Lee, Choon-Woo) 한국산학기술학회 2012 한국산학기술학회논문지 Vol.13 No.9
본 논문에서는 GPS 수신 불가지역에서 저가형 관성센서를 활용한 보행자용 위치정보시스템을 제안한다. 제 안 기법은 보행자의 자세/방향각, 걸음검출 및 보폭 크기를 추정하고, 보조센서 등을 활용하여 위치오차를 줄인다. 제 안 시스템은 보행자가 휴대할 수 있는 소형/경량화/저전력 설계된 H/W 모듈 형태로 구현을 하였으며, 건물 내에서의 보행자 이동 실험을 통해 제안 시스템의 성능을 검증하였다. 실험결과를 통해 보행자가 약 160m 이동시 약 2.4%의 위치오차율을 갖는 결과를 얻었다. In this paper, we propose a Pedestrian Position Information System(PPIS) using low-cost inertial sensors in GPS-disabled area. The proposed scheme estimates the attitude/heading angle and step detection of pedestrian. Additionally, the estimation error due to the inertial sensors is mitigated by using additional sensors. We implement a portable hardware module to evaluate performance of the proposed system. Through the experiments in indoor building, the estimation error of position information was measured as 2.4% approximately.
로봇 전역경로계획을 위한 신경망 기반 위협맵 생성 기법
곽휘권(Kwak, Hwy-Kuen),김형준(Kim, Hyoung-Jun) 한국산학기술학회 2014 한국산학기술학회논문지 Vol.15 No.7
본 논문은 로봇 전역경로계획을 위하여 위협맵을 생성하는 기법을 제안한다. 로봇의 무장 정보와 적 또는 장애물의 위험정보를 비교하고 신경망 이론 기반의 학습을 수행하여 절대적인 수치로 정량화한 위협맵을 생성한다. 또한 로봇이 제안 된 기법으로 생성된 위협맵을 기반으로 경로를 이동한 결과와 기존의 결과를 비교하여 로봇의 위협정도를 파악하여 성능을 검증한다. This paper proposes the creation scheme of a threat map for robot global path planning. The threat map was generated using neural network theory by analyzing the robot's armament state and the menace information of an enemy or obstacle. In addition, the performance of the suggested method was verified using the compared result of the damage amount and existing robot path data.
곽휘권(Kwak, Hwy-Kuen) 한국산학기술학회 2014 한국산학기술학회논문지 Vol.15 No.9
본 논문은 의도하지 않게 카메라에 입력되는 회전, 병진 움직임뿐만 아니라 확대 축소에 의한 움직임을 SIFT 기법을 이용하여 추정하고 제거하는 영상 안정화 기법을 제시한다. 또한 영상 분할 및 통합 방법을 이용하여 움직이는 물체가 영상 에 입력되었을 경우에도 이러한 외란을 제거하고 영상 안정화를 수행하도록 한다. 제시된 방법은 다른 방법과 결과를 비교하 는 실험을 수행하여 성능이 우수함을 검증한다. This paper proposes an image stabilization method for arbitrary disturbances, such as rotation, translation and zoom movement, using the SIFT (Scale Invariant Feature Transform). In addition, image stabilization was carried out using the image division and merge technique when moving objects appear on the scene. Finally, the experimental results showed that the suggested image stabilization scheme produced superior performance compared to the previous ones.
Neural Network를 이용한 PDR 시스템의 정확도 향상 기법
곽휘권(Kwak, Hwy-Kuen) 한국산학기술학회 2014 한국산학기술학회논문지 Vol.15 No.8
본 논문에서는 확률신경망 이론을 적용하여 GPS 단절구간에서 보행자의 위치정보의 정확도를 향상시키는 기법을 제안한다. 일반적인 보행 외 옆으로 걷기, 오리걸기, 기어가기 등 여러 보행 형태에 대한 보행 패턴을 학습하고 이에 대한 이동거리를 구하여 관성항법의 적분오차를 최소화하도록 한다. 제안 시스템은 보행자가 휴대할 수 있는 소형/경량화/저전력 설계된 H/W 모듈 형태로 구현을 하였으며, 건물 내에서의 보행자 이동 실험을 통해 제안 시스템의 성능을 검증하였다. This paper proposes an improved scheme of pedestrian position information system using neural network theory in a GPS-disabled area. Through a learning/obtaining gait pattern and step distance about walk, run, duck walk, crab walk and crawl, the position estimation error could be minimized by rejecting the inertial navigation drift. A portable hardware module was implemented to evaluate the performance of the proposed system. The performance and effectiveness of the suggested algorithm was verified by experiments indoors.
웨어러블 심전도 측정과 임상 심전도 측정과의 상관관계에 대한 연구
이강휘(Kang-Hwi Lee),이성수(Seong-Su Lee),김상민(Sang-Min Kim),이혁재(Hyeok-Jae Lee),민경진(Kyoung-Jin Min),강현규(Hyun-Kyu Kang),이주현(Joo-Hyeon Lee),곽휘권(Hwy-Kuen Kwak),고윤수(Yun-Soo Ko),이정환(Jeong-Whan Lee) 대한전기학회 2018 전기학회논문지 Vol.67 No.12
Recent advances in ICT technology have transformed many of our daily lives and attracted a lot of attention to personal health. Heart beat measurement that reflects cardiac activities has been used in various fields such as exercise evaluation and psychological state evaluation for a long time, but its utilization method is limited due to its differentiation from clinical electrocardiogram. Therefore, in this study, we could observe the change of the measured signal according to the change of the distance and the position of the measuring electrodes which are non-standard electrode configuration. Based on the electric dipole model of the heart, correlation with clinical electrocardiogram could be confirmed by synthesizing multiple surface potentials measured with a shorter electrode distance than standard one. From the electromagnetic point of view, the distance between the measuring electrodes corresponds to the distance that the electric potential by the cardiac electric dipole moves, and the electric potential measured at the body surface is proportional to the moving distance of the electric potential. Therefore, it is preferable to make the distance between electrodes as long as possible, and to position the measuring electrode close to the ventricle rather than the atrium. In addition, it was found that standard electrocardiographic waveforms could be synthesized by using arithmetic sum of multiple measuring electrodes due to the relationship of electrical dipole vectors, which is obtained by dividing and positioning a plurality of measuring electrodes on a reference electrode line, such as Lead-I, Lead-II direction. Also, we obtained a significant Pearson correlation coefficient (r = 0.9113 ± 0.0169) as a result of synthetic experiments on four subjects.
석호동(Ho-Dong Seok),곽휘권(Hwy-Kuen Kwak),조재현(Jae-Hyun Cho),유준(Joon Lyou) 대한전기학회 2006 정보 및 제어 심포지엄 논문집 Vol.2006 No.1
This paper presents realization and evaluation of digital image stabilization for roll motion. The proposed image stabilizer has been implemented on the DSP based hardware and DSP/BIOS software. The proposed image stabilizer is tested in the field. The results show good performance with the sufficient bandwidth. The proposed image stabilizer is combined with mechanical stabilizer and tested to evaluate whether that is feasible for 3-axis stabilization of tank sight system The results also show good performance.
Vision coupled GPS/INS scheme for helicopter navigation
Kim, Jae-Hyung,Lyou, Joon,Kwak, Hwy-Kuen The Korean Society of Mechanical Engineers 2010 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.24 No.2
This paper presents a framework for a GPS/INS/vision-based helicopter navigation system. The conventional GPS/INS algorithm has weak points such as GPS blockage and jamming, while the helicopter is a speedy and highly dynamic vehicle that may easily lose a GPS signal. A vision sensor is not affected by signal jamming, and the navigation error of such a system does not accumulate. Hence, a GPS/INS/vision-aided navigation scheme was implemented to provide the robust localization suitable for helicopter operations in various environments. The core algorithm is the vision-based SLAM (simultaneous localization and mapping) technique. Flight tests were performed to verify the SLAM-aided vision navigation algorithm. During the tests, it was confirmed that the developed system is sufficiently robust under GPS blockage conditions. The system design, software algorithm, and flight test results are described in this paper.