• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.5
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• pp.483-489
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• 2015

In this paper, we propose monocular visual simultaneous localization and mapping (SLAM) in the large-scale environment. The proposed method continuously computes the current 6-DoF camera pose and 3D landmarks position from video input. The proposed method successfully builds consistent maps from challenging outdoor sequences using a monocular camera as the only sensor. By using a binary descriptor and metric-topological mapping, the system demonstrates real-time performance on a large-scale outdoor dataset without utilizing GPUs or reducing input image size. The effectiveness of the proposed method is demonstrated on various challenging video sequences.

• Journal of Agricultural Extension & Community Development
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• v.5 no.2
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• pp.177-186
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• 1998

It is nearing the establishment of KAC(Korean Agricultural Chamber) as an institution for intensive reflection of farmer's public opinions in agricultural administration. In this study, researchers examined the management of Agricultural Chambers in France and Japan, which have experienced the action of Agricultural Chamber in advance of Korea. And discussed the anticipated change in agricultural extension taking advantage of departure of KAC. Discourses and movements to establish KAC is putting pressure the existing agricultural extension system into innovation. Taking a side view that there were little contribution of agents belonging to the existing agricultural extension agencies, the problem of restructuring agricultural extension system has assumed very serious dimensions. Therefore, agents in agricultural extension agencies should lay their own view before the probable reorganization of agricultural extension system.

• Journal of Korean Society for Geospatial Information Science
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• v.7 no.1 s.13
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• pp.41-52
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• 1999

In order to correct mismatches between neighboring digital maps, the middle line method has been widely used. However, it may result in not only a corruption of the topological consistency between the objects near to boundaries but also degeneration of accuracy. In this paper, we propose two edge-matching methods to overcome the problem of the middle line method. The first method is based on the rubber sheeting, which performs an elastic transformation for the objects located around the boundaries. The second method transforms the geometry of objects by the function of the distance from the boundary. These methods have important advantages that they preserve the topology of the original maps and improve tile accuracy, compared with the previous methods.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.9 s.252
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• pp.1124-1133
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• 2006

This paper addresses the localization and navigation problem using invisible two dimensional barcodes on the floor. Compared with other methods using natural/artificial landmark, the proposed localization method has great advantages in cost and appearance, since the location of the robot is perfectly known using the barcode information after the mapping is finished. We also propose a navigation algorithm which uses the topological structure. For the topological information, we define nodes and edges which are suitable for indoor navigation, especially for large area having multiple rooms, many walls and many static obstacles. The proposed algorithm also has an advantage that errors occurred in each node are mutually independent and can be compensated exactly after some navigation using barcode. Simulation and experimental results. were performed to verify the algorithm in the barcode environment, and the result showed an excellent performance. After mapping, it is also possible to solve the kidnapped case and generate paths using topological information.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.12 no.1
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• pp.43-52
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• 1994

This paper outlines a new approach to the line generalization when preparing small scale map on the basis of existing large scale digital map. Line generalizations are conducted based on Douglas algorithm using 1/25,000 scale topographic maps of southeastern JEJU island which produced by National Geographic Institute to analyze the fitness to the original and problems of graphical representation. Compare to the same scale map which was generated by manual method, a verity of small, but sometimes significant errors ＆ modification of topological relationship have been detected. The research gives full details of three algorithms that operationalize the smallest visible object method, together with some empirical results. A comparison of the results produced by the new algorithms with those produced by manual generalization and Douglas method of data reduction is provided. Also this paper presents the preliminary results of an relationships between the size of smallest visual object and requiring data storages for each algorithms.

• Journal of The Korean Association For Science Education
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• v.35 no.2
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• pp.289-301
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• 2015

This study noted that elementary school students were unable to accurately comprehend the principles of moon phase changes and that teachers themselves lacked a full understanding of it as well. Therefore, this study classifies conception types through 161 5th grade respondents and suggests how to change students' conception types through the use of reconstructed teaching and learning materials (that have been developed in existing studies). It verified the changes in the learning achievement of 129 5th grade respondents and analyzed how to think about reconstructed teaching and learning materials through four teacher respondents and four 5th grade respondents from the same study. The results of this study are as follows: First, the conception types on moon phase changes were classified into C and W types. W types consisted of W1, W2, W3, W4, and W5 types. Students had difficulty in understanding the principles of a waxing crescent moon and first quarter phase changes. Second, the group taking classes, which implemented reconstructed teaching and learning materials, showed greater improvement in learning achievement posttest and long-term tests compared to those who have not. Finally, teachers and students reacted positively to the reconstructed teaching and learning materials as shown in exit survey results. In conclusion, it is suggested that teachers are better off utilizing reconstructed teaching and learning materials so that elementary school students may fully understand the principles of moon phase changes rather than just memorizing the results.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.6
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• pp.785-791
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• 2021

In this paper, we propose a methodology for estimating the optimal traversable destination from the location-based information of the object recognized by the mobile robot to perform the object delivery service. The location estimation process is to apply the generalized Voronoi graph to the grid map to create an initial topology map composed of nodes and links, recognize objects and extract location data using RGB-D sensors, and collect the shape and distance information of obstacles. Then, by applying the hybrid approach that combines the center of gravity and thinning method, the optimal moving position for the service robot to perform the task of grabbing is estimated. And then, the optimal node information for the robot's work destination is updated by comparing the geometric distance between the estimated position and the existing node according to the node update rule.

• Journal of Korea Multimedia Society
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• v.3 no.4
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• pp.416-423
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• 2000

The existing self-organizing feature map of Kohonen has weakpoint that need too much input patterns in order to converse into the learning rate and equilibrium state when it trains. Making up for the current weak point, B.Bavarian suggested the method of that distributed the learning rate such as Gaussian function. However, this method has also a disadvantage which can not achieve the right self-organizing. In this paper, we proposed the method of improving the convergence speed and the convergence rate of self-organizing feature map converting the Gaussian function into dynamic approximate curve used in when trains the self-organizing feature map.

• Proceedings of the Korean Information Science Society Conference
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• 2000.04b
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• pp.18-20
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• 2000

공간 데이터베이스를 권한이 없는 사용자의 접근, 고의적인 파괴 혹은 우발적인 사고로부터 보호하기 위하여 공간 데이터베이스에 대한 보안정책의 수용이 필요하다. 보안등급의 적용 단위는 필드, 객체, 레이어 단위의 방법이 있으며, 객체 단위의 보안등급 적용은 인접한 객체의 위상관계에 의한 정보 유출의 문제점이 있고, 레이어 단위 보안등급의 적용은 공간 객체에 대한 사용자의 접근성을 저하시키는 문제를 발생시킨다. 본 논문에서는 공간 객체에 대한 사용자의 접근성을 향상시키기 위하여 타일 단위의 접근제어 기법을 제안한다. 타일 단위 접근제어 기법은 보안등급 적용 단위를 타일(Tile)로 하며 레이어, 지도의 보안등급은 하위 수준인 타일과 레이어에 부여된 보안등급의 최하위 등급으로 각각 설정한다. 제안한 기법의 구현을 위해 타일의 구조와 스키마를 정의하고, 보안 유지를 위한 연산 제약사항을 기술한다. 연산 제약 사항은 기본적으로 BLP의 속성을 따르고, 상위 등급 객체에 대한 수정 방지와 하위 등급 객체에 대한 수정 허용을 위해서 BLP 속성을 확정한다. 제안된 기법은 레이어 단위의 접근제어 기법에서 발생하는 문제점을 해결하여 객체에 대한 사용자의 접근성을 향상시키며 인접한 객체 사이의 위상관계에 의한 정보의 유출을 방지한다.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2005.07a
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• pp.436-437
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• 2005

3-dimension object's feature measurement is used several industrial field to produce for examination of demanded high quality products by using optical measurement method. 3-dimension object's feature measurement is separated surface scanning and surface non-scanning. In this research, we illuminated interfero-pattern to object, it was constructed with Michelson interferometer by using laser is one of surface non-scanning method. And we extracted phase-map, it is one of featural measurement analysis of 3-dimensional object by using a phase shifting theory.