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1. Multimodal Sensor-Based Semantic 3D Mapping for a Large-Scale Environment

Author

Jeong, Jongmin, Yoon, Tae Sung, and Park, Jin Bae

Subjects
Computer Science - Robotics
Abstract

Semantic 3D mapping is one of the most important fields in robotics, and has been used in many applications, such as robot navigation, surveillance, and virtual reality. In general, semantic 3D mapping is mainly composed of 3D reconstruction and semantic segmentation. As these technologies evolve, there has been great progress in semantic 3D mapping in recent years. Furthermore, the number of robotic applications requiring semantic information in 3D mapping to perform high-level tasks has increased, and many studies on semantic 3D mapping have been published. Existing methods use a camera for both 3D reconstruction and semantic segmentation. However, this is not suitable for large-scale environments and has the disadvantage of high computational complexity. To address this problem, we propose a multimodal sensor-based semantic 3D mapping system using a 3D Lidar combined with a camera. In this study, we build a 3D map by estimating odometry based on a global positioning system (GPS) and an inertial measurement unit (IMU), and use the latest 2D convolutional neural network (CNN) for semantic segmentation. To build a semantic 3D map, we integrate the 3D map with semantic information by using coordinate transformation and Bayes' update scheme. In order to improve the semantic 3D map, we propose a 3D refinement process to correct wrongly segmented voxels and remove traces of moving vehicles in the 3D map. Through experiments on challenging sequences, we demonstrate that our method outperforms state-of-the-art methods in terms of accuracy and intersection over union (IoU). Thus, our method can be used for various applications that require semantic information in 3D map., Comment: 10 pages, 9 figures

Published
2018

2. Invariantly Admissible Policy Iteration for a Class of Nonlinear Optimal Control Problems

Author

Lee, Jae Youg, Park, Jin Bae, and Choi, Yoon Ho

Subjects
Mathematics - Optimization and Control, 93D30, 49L20, 49J15, 34K35, 93C10
Abstract

In this paper, we propose a generalized successive approximation method (SAM), called invariantly admissible policy iteration (PI), for finding the solution to a class of input-affine nonlinear optimal control problems by iterations. Unlike the existing SAM, the proposed method updates the domain of the next policy and value function for admissibility (and invariance). In the existing SAM, the admissibility of the generated policies are guaranteed under the two implicit assumptions regarding Lyapunov's theorem and invariance, both of which are presented and discussed in this paper and are generally not true. On the contrary, the proposed invariantly admissible PI guarantees the admissibility in a more refined manner, without such assumptions. The admissibility and invariance of the updated region, with respect to the corresponding policies, are mathematically prove under the specific invariant admissible update rule. We also provide monotonic decreasing and uniform convergence properties of the sequence of value functions under certain conditions. Finally, numerical simulations are presented to illustrate the proposed PI method and its effectiveness., Comment: This is a preprint of a paper submitted to Systems & Control Letters. Paper submitted April-2014. The paper has 25 pages and 3 figures

Published
2014

24. The Adaptive Learning Rates of Extended Kalman Filter Based Training Algorithm for Wavelet Neural Networks

Author

Kim, Kyoung Joo, Park, Jin Bae, Choi, Yoon Ho, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Gelbukh, Alexander, editor, and Reyes-Garcia, Carlos Alberto, editor

Published
2006
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25. IMM Method Using Tracking Filter with Fuzzy Gain

Author

Noh, Sun Young, Park, Jin Bae, Joo, Young Hoon, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Gelbukh, Alexander, editor, and Reyes-Garcia, Carlos Alberto, editor

Published
2006
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26. Implementation of the Avoidance Algorithm for Autonomous Mobile Robots Using Fuzzy Rules

Author

Kim, Jang Hyun, Park, Jin Bae, Yang, Hyunseok, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Wang, Lipo, editor, Jiao, Licheng, editor, Shi, Guanming, editor, Li, Xue, editor, and Liu, Jing, editor

Published
2006
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27. Stabilization of Multirate Sampled-Data Fuzzy Systems Based on an Approximate Discrete-Time Model

Author

Kim, Do Wan, Park, Jin Bae, Joo, Young Hoon, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Wang, Lipo, editor, Jiao, Licheng, editor, Shi, Guanming, editor, Li, Xue, editor, and Liu, Jing, editor

Published
2006
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28. Robust H ∞ Fuzzy Controller for Uncertain Nonlinear Systems with Time-Varying Delayed State

Author

Kim, Taek Ryong, Park, Jin Bae, Joo, Young Hoon, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Wang, Lipo, editor, Jiao, Licheng, editor, Shi, Guanming, editor, Li, Xue, editor, and Liu, Jing, editor

Published
2006
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29. Hybrid Silhouette Extraction Method for Detecting and Tracking the Human Motion

Author

Kim, Moon Hwan, Park, Jin Bae, Ra, In Ho, Joo, Young Hoon, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Jiao, Licheng, editor, Wang, Lipo, editor, Gao, Xinbo, editor, Liu, Jing, editor, and Wu, Feng, editor

Published
2006
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30. Neurocontroller Via Adaptive Learning Rates for Stable Path Tracking of Mobile Robots

Author

Yoo, Sung Jin, Park, Jin Bae, Choi, Yoon Ho, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Jiao, Licheng, editor, Wang, Lipo, editor, Gao, Xin-bo, editor, Liu, Jing, editor, and Wu, Feng, editor

Published
2006
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34. Design of Fuzzy Rule-Based Classifier: Pruning and Learning

Author

Kim, Do Wan, Park, Jin Bae, Joo, Young Hoon, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Wang, Lipo, editor, and Jin, Yaochu, editor

Published
2005
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35. Design of T–S Fuzzy Classifier via Linear Matrix Inequality Approach

Author

Kim, Moon Hwan, Park, Jin Bae, Joo, Young Hoon, Lee, Ho Jae, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Wang, Lipo, editor, and Jin, Yaochu, editor

Published
2005
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36. Generation of Fuzzy Rules and Learning Algorithms for Cooperative Behavior of Autonomouse Mobile Robots(AMRs)

Author

Kim, Jang-Hyun, Park, Jin-Bae, Yang, Hyun-Seok, Park, Young-Pil, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Wang, Lipo, editor, and Jin, Yaochu, editor

Published
2005
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37. Intelligent Digital Control for Nonlinear Systems with Multirate Sampling

Author

Kim, Do Wan, Park, Jin Bae, Joo, Young Hoon, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Wang, Lipo, editor, and Jin, Yaochu, editor

Published
2005
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38. Fuzzy Classifier with Bayes Rule Consequent

Author

Kim, Do Wan, Park, Jin Bae, Joo, Young Hoon, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Zhang, Shichao, editor, and Jarvis, Ray, editor

Published
2005
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39. Identification of T–S Fuzzy Classifier Via Linear Matrix Inequalities

Author

Kim, Moon Hwan, Park, Jin Bae, Kim, Weon Goo, Joo, Young Hoon, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Zhang, Shichao, editor, and Jarvis, Ray, editor

Published
2005
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40. New Fuzzy Skin Model for Face Detection

Author

Kim, Moon Hwan, Park, Jin Bae, Joo, Young Hoon, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Zhang, Shichao, editor, and Jarvis, Ray, editor

Published
2005
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41. Evolutionary Design of Fuzzy Classifiers Using Information Granules

Author

Kim, Do Wan, Park, Jin Bae, Joo, Young Hoon, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Carbonell, Jaime G., editor, Siekmann, Jörg, editor, Zhang, Shichao, editor, and Jarvis, Ray, editor

Published
2005
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