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This paper presents a novel Graphics Processing Unit (GPU)-based system for pedestrian detection with stereo vision in real images on mobile robot. The process of obtaining a dense disparity map on a GPU for real-time applications and the edge property of the scene to extract a region of interest (ROI) is designed. After extracting the histograms of the(More)
Influenza virus antigen microspheres were prepared by a pH-dependent process using a protein-like polymer (proteinoid) made by thermal condensation of amino acids. The efficacy of these preparations to induce specific IgG responses when used as oral vaccines in rats was evaluated. A single enteric dose of Ml entrapped in proteinoid microspheres was able to(More)
Genistein, a radioprotective soy isoflavone and protein kinase inhibitor, blocks the invasion of pathogenic bacteria in mammalian epithelial cells. The purpose of this study was to evaluate the direct effect of genistein on the survival and growth of the probiotic Lactobacillus reuteri and selected opportunistic bacteria in vitro as a prelude to in vivo use(More)
This paper presents a novel method to recognize the human gesture using binary decision tree and Multi-class Support Vector Machine (MCSVM). In a learning stage, 3D trajectory of the human gesture by a kinect sensor is assigned into the tree node of the binary decision tree according to its distribution property. The user's gesture trajectory is resampled(More)
This paper presents a gesture tracking method using 3D blobs and a skeleton model for interactive application. A disparity map is obtained from stereo matching based on GPGPU and we generate 3D foreground blobs using depth information. The distribution of 3D blobs is applied to determine the human position combined with the face and torso detection. The(More)
This paper presents a novel method to recognize current location of a mobile robot from input stereo images with visual and geometric features. We extract structural planes from 3D depth data by using SLIC (Simple Linear Iterative Clustering) based superpixel and RANSAC algorithm. The experimental results show that the proposed method using visual features(More)
This paper presents a novel method to generate an index word for the topological map in robot localization. Previous studies extract only appearance features from an input image to match the visual words of the model images. However, the localization performance is much affected by the miss or false matches. First, we segment a robot navigation environment(More)
Dense disparity map estimation from a high-resolution stereo image is a very difficult problem in terms of both matching accuracy and computation efficiency. Thus, an exhaustive disparity search at full resolution is required. In general, examining more pixels in the stereo view results in more ambiguous correspondences. When a high-resolution image is(More)