• The KIPS Transactions:PartB
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• v.12B no.3 s.99
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• pp.247-256
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• 2005

One of the classic research problems in computer vision is that of stereo, i.e., the reconstruction of three dimensional shape from two or more images. This paper deals with the problem of extracting depth information of non-rigid dynamic 3D scenes from general 2D video sequences taken by monocular camera, such as movies, documentaries, and dramas. Depth of the blocks are extracted from the resultant block motions throughout following two steps: (i) calculation of global parameters concerned with camera translations and focal length using the locations of blocks and their motions, (ii) calculation of each block depth relative to average image depth using the global parameters and the location of the block and its motion, Both singular and non-singular cases are experimented with various video sequences. The resultant relative depths and ego-motion object shapes are virtually identical to human vision.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.4
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• pp.345-354
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• 2014

In this paper, we propose a real-time algorithm for estimating the relative position and velocity of a person with respect to a robot using a Kinect sensor and an extended Kalman filter (EKF). Additionally, we propose an algorithm for controlling the robot in the proximity of a person in a variety of modes. The algorithm detects the head and shoulder regions of the person using a histogram of oriented gradients (HOG) and a support vector machine (SVM). The EKF algorithm estimates the relative positions and velocities of the person with respect to the robot using data acquired by a Kinect sensor. We tested the various modes of proximity movement for a human in indoor situations. The accuracy of the algorithm was verified using a motion capture system.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.9
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• pp.891-897
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• 2008

GPS can provide precise relative navigation information. But it needs a reference station in a close range and is effected by satellite observation environment. In this paper, we propose INS and Vision sensor integrated system with a known landmark geometry. This system is supposed to overcome problems of GPS only system. Using the proposed method, a relative navigation is available without a GPS reference station. The only need for the proposed system is a landmark image which is drawn on the ground. We conduct simple simulation to check the performance of this method. As a result, we confirm that it can improve the relative navigation information.

• Proceedings of the Korea Water Resources Association Conference
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• 2021.06a
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• pp.397-397
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• 2021

본 연구의 목적은 비매개변수적 리샘플링 기법을 이용하여 농업용 저수지 유입 설계홍수량의 구간을 추정하는 기법을 제안하는 데 있다. 본 연구는 설계홍수량을 점 추정하여 안전계수(safety factor)를 적용하는 기존 방법에 대한 대안을 제시하고자 한다. 설계홍수량의 구간 추정을 수행하기 위해 부트스트랩 기법(bootstrap technique)을 사용하였다. 부트스트랩 기법을 이용하여 95% 신뢰수준에 해당하는 신뢰구간을 추정하였다. 본 연구의 공간적인 범위는 남한의 30개 농업용 저수지이며, 시간적인 범위는 과거 기간(2015s: 1986-2015)과 미래기간(2040s: 2011-2040, 2070s: 2041-2070, 2100s: 2071-2100)을 설정하였다. 본 연구에서는 200년 빈도, 24시간 지속기간을 대표적인 결과로 선정하여 분석하였다. 빈도분석은 GEV 분포를 사용하였고, L-moment 방법을 이용하여 매개변수를 추정하였다. 설계홍수량은 HEC-1 모형을 이용하여 산정하였다. 최종적으로 설계홍수량 구간 추정한 결과를 기존의 점 추정한 뒤 안전계수를 적용한 기존 방법과 비교하였다. 97.5th BCa percentile 기준으로 상대적인 변화를 비교해보면, 미래로 갈수록 구간 추정으로 산정한 설계홍수량이 점차 증가하는 것으로 도출되었다. 한강 및 금강 유역에 위치한 농업용 저수지의 설계홍수량이 낙동강 유역에 비해 상대적으로 큰 변화를 보여주었다. 몇몇 농업용 저수지에 대해서 2040s 기간에 다소 감소하기도 하였으나 2070s 기간 이후에 다시 증가하는 결과를 보여주었다. 낙동강 유역의 위치는 농업용 저수지의 설계홍수량은 미래로 갈수록 크게 증가하지 않는 경향을 보여주었다. 본 연구는 설계홍수량을 추정하는 데 있어 결정론적인 방법에서 더 나아가 자료의 통계적인 특성을 고려하여 구간 추정을 수행하는 방법론을 제공할 수 있을 것으로 사료된다.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.4
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• pp.508-516
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• 2016

When GPS signals are not available, a relative localization can be alternatively used to represent the topological relationship between mobile nodes. A relative location map of a network can be constructed by using the distance information between all the pairs of nodes in the network. If a network is large, a number of small local maps are individually constructed and are merged to obtain the whole map. However, this approach may result in a high computation and communication overhead. In this paper, we propose a reference-node selection scheme for relative localization map construction, which chooses a subset of nodes as a reference node that is supposed to construct local maps. The scheme is a greedy algorithm that iteratively chooses nodes with high degree as a reference node until the chosen local maps are successfully merged with a sufficient number of common nodes between nearby local maps. The simulation results indicate that the proposed scheme achieves higher localization accuracy with a reduced computational overhead.

• Journal of Broadcast Engineering
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• v.18 no.1
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• pp.31-42
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• 2013

This paper proposes a photogrammetric rectification method based on Bayesian approach as a method that eliminates vertical parallax between stereo images to minimize visual fatigue of 3D contents. The image rectification consists of two phases; geometry estimation and epipolar transformation. For geometry estimation, coplanarity-based relative orientation algorithm was used in this paper. To ensure robustness for mismatch and localization error occurred by automation of tie point extraction, Bayesian approach was applied by introducing several prior constraints. As epipolar transformation perspective transformation was used based on condition of collinearity to minimize distortion of result images and modification for input images. Other algorithms were compared to evaluate performance. For geometry estimation, traditional relative orientation algorithm, 8-points algorithm and stereo calibration algorithm were employed. For epipolar transformation, Hartley algorithm and Bouguet algorithm were employed. The evaluation results showed that the proposed algorithm produced results with high accuracy, robustness about error sources and minimum image modification.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.11
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• pp.873-880
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• 2020

In this paper, we propose a guidance filter to estimate line of sight rate with strapdown seeker measurements and INS(Inertial Navigation System) information. The measurements of proposed guidance filter consisted of the LOS(Line of Sight) and relative position that can be calculated with the seeker's measurements, INS information and known target position, also the filter is based on an asynchronous filter to use outputs of the two sensors that are out of synchronous and period. Through the proposed filter, we can reduce the effect on parasitic loop that can be caused by using large time delay seeker and improve the estimation performance.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.11
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• pp.1013-1020
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• 2011

This paper deals with the tracking problem of a moving target using multiple unmanned aerial vehicles. A decentralized extended information filter is designed to cooperatively estimate the position and the velocity of the moving target. The extended information filter is adopted to consider the range and the line-of-sight angle as measurement data. The decentralized scheme is applied to enhance the estimation performance using the information provided by other vehicles. Numerical simulation is performed to verify the tracking performance of the proposed decentralized filters.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.16 no.2
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• pp.123-129
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• 2016

Recently indoor positioning technologies have been studied using the acoustic signal from a smart phone. Also multi-hop indoor positioning system in which the equipments measure their relative position successively has been proposed. As the total positioning error is prone to increase due to the successively accumulated positioning error for the multi-hop system, the error analysis is required for the system design. In this paper, the absolute positioning error for the multi-hop indoor positioning equipments successively installed is analyzed, and it is verified by computer simulation. According to the results, the accumulated positioning error is linearly increased as the number of the multi-hop increases.

• The Journal of the Acoustical Society of Korea
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• v.13 no.4
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• pp.20-31
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• 1994

The maximum likelihood(ML) estimation has excellent accuracy for frequency estimation of multiple sinusoids, but the maximum likelihood function requires much loss owing to the high nonlinearity. This paper presents a simplified maximum likelihood estimation, in order to improve the nonlinearity of the maximum likelihood estimation for frequencies of sinusoids in signals. This method is applied to the frequency estimation of sinusoidal signals corrupted by white or colored measurement noise. Monte-carlo simulations are conducted for the comparison of ML method with the best MFBLP method, in terms of sampled mean, root mean square and relative bias. The power spectral density and the position of frequency in unit circle are appeared in figures.