• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.14 no.12
• /
• pp.6420-6426
• /
• 2013

The indoor areas for the commercial use of automatic monitoring systems of mobile robot localization improves the cognitive abilities and the needs of the environment with this emerging and existing mobile robot localization, and object recognition methods commonly around its great sensor are leveraged. On the other hand, there is a difficulty with a problem-solving self-location estimation in indoor mobile robots using only the sensors of the robot. Therefore, in this paper, a self-position estimation method for an enhanced and effective mobile robot is proposed using a marker and CCTV video that is already installed in the building. In particular, after recognizing a square mobile robot and the object from the input image, and the vertices were confirmed, the feature points of the marker were found, and marker recognition was then performed. First, a self-position estimation of the mobile robot was performed according to the relationship of the image marker and a coordinate transformation was performed. In particular, the estimation was converted to an absolute coordinate value based on CCTV information, such as robots and obstacles. The study results can be used to make a convenient self-position estimation of the robot in the indoor areas to verify the self-position estimation method of the mobile robot. In addition, experimental operation was performed based on the actual robot system.

• Journal of the Korean Association of Geographic Information Studies
• /
• v.8 no.4
• /
• pp.44-51
• /
• 2005

In this study, the method of extracting road centerline's coordinate and road facilities is presented using RC helicopter photogrammetry system. From the survey of extracted road centerline, the errors turned out to be -0.117m ~ 0.103m on the X-axis and -0.014m ~ 0.009m on the Y-axis when RC Helicopter photogrammetry system utilized. By application of this system, hereafter, not only management of road facilities but also construction of DB would be enable which need positioning and design of alignment on the access is not easy area such as traffic congestion or toparchy area.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.11 no.4
• /
• pp.121-131
• /
• 1991

This study is about the analysis of the application of non-metric camera to accident sites and aims to present an efficient, an economical and an accurate method of processing accident sites. This was accomplished by observation and accuracy analysis of an experimental model. It can be concluded that by applying the 3-D coordinate system and the bundle adjustment with additional parameters to non-metric cameras, it is possible to achieve an accuracy level of positional values which is similar to that achieved by conventional control surveying and by metric cameras. It was also found that the accuracy of absolute coordinates approached towards the accuracy of metric cameras with the increase of the film size and with the increase of the focal length of the non-metric camera.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2003.05a
• /
• pp.255-258
• /
• 2003

Recently, Digital Watermarking is used to authenticate data and to determine whether the data are distorted or not in medical images which is digitalized. The Fourier Mellin method using the Fourier Transform and the Log-Polar coordinate transform gets an invariant feature for RST distortion in images. But there are several problems in the real materialization. Interpolation of the image value should be considered according to the pixel position and so a watermark loss, original image distortion, numerical approximation is happened. Therefore there should be solved to realization of the Fourier Mellin method. Using the Look up table, there reduce the data loss caused by the conversion between Rectangular and Polar coordinate. After diagnose, medical images are transformed the Polar coordinate and taken the Discrete Fourier transform in the center of ROI region. Maintaining the symmetry in Fourier magnitude coefficient, the gaussian distributed random vectors and binary images are embedded in medical images.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.15 no.10
• /
• pp.2195-2202
• /
• 2011

Recently, navigation system is used to inform users of vehicle location and driving direction, moving distance and so on. This navigation uses GPS sensor for current location determination. The GPS sensor will determinate current coordinates by using triangulation algorithm. This characteristic bring about that the GPS signal is not available in the shadow region such as tunnel and urban canyon. Moreover, Even though the signal is available, inherent positional error rate of the GPS often results in the dislocation of vehicle. To solve, these problems, a new positioning system is proposed in the paper. The System utilizes geomagnetic sensors of smartphone, speed information of CAN of vehicle though bluetooth and WiFi APs for GPS shadow area. The experimental test shadows that the proposed system using multiple data is able to determine the position of vehicle in GPS shadow areas.

• The KIPS Transactions:PartB
• /
• v.17B no.4
• /
• pp.287-294
• /
• 2010

TOF technique is one of the skills that can obtain the object's 3D depth information. But depth image has low resolution and fingertip occupy very small region, so, it is difficult to find the precise fingertip's 3D information by only using depth image from TOF camera. In this paper, we estimate fingertip's 3D location using Arm Model and reliable hand's 3D location information that is modified by hexahedron as hand model. Using proposed method we can obtain more precise fingertip's 3D information than using only depth image.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2010.05a
• /
• pp.901-904
• /
• 2010

Web 2.0의 등장과 함께 Web 2.0의 핵심요소인 OpenAPI의 사용이 늘어나고 있다. 또한 이들은 다른 서비스와 결합되어 새로운 복합 서비스를 만들어 내기도 하는데, 이를 매쉬업 서비스 (mash-up service)라 한다. 현재 많은 OpenAPI 중 가장 많이 이용되고 있는 지도 API는 매쉬업 서비스의 대표적인 자원이며 이와 함께 최근 대중화 되고 있는 스마트폰의 GPS를 이용하여 현대사회에서 문제가 되고 있는 아동 범죄, 노약자 보호 등의 문제를 해결하는데 이용될 수 있다. 본 연구에서는 OpenAPI와 매쉬업 기술을 기반으로 아동 및 노약자의 이동 경로를 관리하기 위한 서비스를 개발하였다. 이 서비스는 스마트폰의 GPS로부터 실시간 위치 좌표 값을 받아 지도 API를 이용하여 현재 위치를 표시해 주는 기능을 가진다. 또한 관리대상 (아동 및 노약자)의 이동경로를 미리 예측하고 이를 안전지역으로 설정해 놓음으로써 이들의 안전지역 이탈을 즉각적으로 알려줄 수 있도록 하여 이탈 시 해당 위치와 이탈 후의 이동경로를 확인할 수 있게 한다. 뿐만 아니라 과거의 이동경로와 안전지역 이탈 이력을 조회 해 볼 수 있음으로써 정확한 사고 발생 시각 및 지점을 확인할 수 있도록 한다. 본 논문에서 개발한 이동경로관리 서비스를 이용함으로써 아동 범죄 및 노약자 사고를 사전에 예방하도록 도와주고 사후에는 신속한 처리를 할 수 있도록 해 줄 것이다.

• KIPS Transactions on Software and Data Engineering
• /
• v.4 no.10
• /
• pp.439-446
• /
• 2015

Recently, semantic trajectories which combine GPS positions and POIs(Point of Interests) become more popular in order to expand location based services. To construct semantic trajectories, the existing algorithms exploit the extent information of POIs described as polygons and find overlapping regions between GPS positions and the extents. However, the algorithms are not applicable in the condition where the extent information is not provided such as in Google Map, Naver Map, OpenStreetMap and most of the open geographic information systems. In this paper, we provide a novel algorithm to construct semantic trajectories only with GPS positions and POI points but without POI extents.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2007.06a
• /
• pp.364-367
• /
• 2007

We combined CC2431(Chipcon, Norway), as the platform for the Indoor Location Tracking, which follows Zigbee/IEEE802.15.4 standards in RSSI (Received Signal Strength Indicator) and Base Station Node and then, embodied Indoor Location Tracking System. CC2431 is composed of the Reference Node that transfer its current position at the designated place and the Blind Node. The Blind node receives the current position(X and Y coordinates) of the Reference Node fields which are being contiguous and also, calculates its current position and transfers it to the Base Station Node. The base station node is used for receiving the current position of blind node and passing its data to the PC as a gateway. We can make sure where is the Blind Node not only from the out-of-the-way place of the server side but from the outside in a real-time.

• The KIPS Transactions:PartB
• /
• v.14B no.3 s.113
• /
• pp.163-170
• /
• 2007

In autonomous navigation of a mobile vehicle or a mobile robot, localization calculated from recognizing its environment is most important factor. Generally, we can determine position and pose of a camera equipped mobile vehicle or mobile robot using INS and GPS but, in this case, we must use enough known ground landmark for accurate localization. hi contrast with homography method to calculate position and pose of a camera by only using the relation of two dimensional feature point between two frames, in this paper, we propose a method to calculate the position and the pose of a camera using relation between the location to predict through perspective transform of 3D feature points obtained by overlaying 3D model with previous frame using GPS and INS input and the location of corresponding feature point calculated using KLT tracking method in current frame. For the purpose of the performance evaluation, we use wireless-controlled vehicle mounted CCD camera, GPS and INS, and performed the test to calculate the location and the rotation angle of the camera with the video sequence stream obtained at 15Hz frame rate.