• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.3
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• pp.160-173
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• 2013

In this paper, we propose a new visual odometry technique by combining a forward-looking stereo camera and a backward-looking monocular camera. The main goal of the proposed technique is to identify the location of a moving vehicle which travels long distance and comes back to the initial position in urban road environments. While the vehicle is moving to the destination, a global 3D map is updated continuously by a stereo visual odometry technique using a graph theorem. Once the vehicle reaches the destination and begins to come back to the initial position, a map-based monocular visual odometry technqieu is used. To estimate the position of the returning vehicle accurately, 2D features in the backward-looking camera image and the global map are matched. In addition, we utilize the previous matching nodes to limit the search ranges of the next vehicle position in the global map. Through two navigation paths, we analyze the accuracy of the proposed method.

• Proceedings of the Korea Information Processing Society Conference
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• 2000.04a
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• pp.890-895
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• 2000

본 논문에서는 인공신경망을 이용한 자모 검증을 HMM 기반 온라인 한글인식 시스템에 적용하는 방법론을 제시한다. 본 시스템에서 각각의 자모는 한 개의 HMM 모델과 한 개의 인공신경망 검증기를 갖는다. 자모 검증기는 HMM 네트웍이 생성한 자모 후보 가정을 입력으로 받은 후, 이 가정의 타당성에 대한 사후 확률을 출력한다. 이 사후 확률은 Viterbi 탐색시 탐색 경로에 반영된다. 기존 HMM 시스템의 국소적 특징의 한계를 보완하기 위하여, 한글 자모의 기본획 분석에서 얻어진 구조적, 전역적 특징이 자모 검증기에 사용되었다. 한글 낱자인식에 대한 실험 결과 HMM 기반 인식기에 자모 검증기를 도입함으로서 38.5%의 인식 오류를 줄일 수 있었다.

• IEMEK Journal of Embedded Systems and Applications
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• v.16 no.6
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• pp.293-297
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• 2021

This paper presents how to create a 3D map and solve problems related to generating a global path planning for navigation. Map creation and localization were performed using the RTAB-Map package to create a 3D map of the environment. In addition, when the target point is within the obstacle space, the problem of not generating a global path was solved using the asr_navfn package. The performance of the proposed system is validated through experiments with a wheelchair-type robot.

• Tunnel and Underground Space
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• v.32 no.3
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• pp.231-242
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• 2022

In this study, we developed a robot operating system (ROS)-based autonomous driving robot that estimates the robot's position in underground mines and drives and returns through multiple waypoints. Autonomous driving robots utilize SLAM (Simultaneous Localization And Mapping) technology to generate global maps of driving routes in advance. Thereafter, the shape of the wall measured through the LiDAR sensor and the global map are matched, and the data are fused through the AMCL (Adaptive Monte Carlo Localization) technique to correct the robot's position. In addition, it recognizes and avoids obstacles ahead through the LiDAR sensor. Using the developed autonomous driving robot, experiments were conducted on indoor experimental sites that simulated the underground mine site. As a result, it was confirmed that the autonomous driving robot sequentially drives through the multiple waypoints, avoids obstacles, and returns stably.

• Journal of KIISE:Software and Applications
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• v.37 no.12
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• pp.882-891
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• 2010

Many automated dynamic test data generation technique have been proposed. The techniques evaluate fitness of test data through executing instrumented Software Under Test (SUT) and then generate new test data based on evaluated fitness values and optimization algorithms. Previous researches and experiments have been showed that these techniques generate effective test data. However, optimization algorithms in these techniques incur much time to generate test data, which results in huge test case generation cost. In this paper, we propose a technique for reducing the time of evaluating a fitness of test data among steps of dynamic test data generation methods. We introduce the concept of Fitness Evaluation Program (FEP), derived from a path constraint of SUT. We suggest a test data generation method based on FEP and implement a test generation tool, named ConGA. We also apply ConGA to generate test cases for C programs, and evaluate efficiency of the FEP-based test case generation technique. The experiments show that the proposed technique reduces 20% of test data generation time on average.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.39 no.3
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• pp.157-165
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• 2021

Recently, as the spatial resolution of satellite and aerial images has improved, various studies using remotely sensed data with high spatial resolution have been conducted. In particular, since the building extraction is essential for creating digital thematic maps, high accuracy of building extraction result is required. In this manuscript, building extraction models were generated using SegNet, U-Net, FC-DenseNet, and HRNetV2, which are representative semantic segmentation models in deep learning techniques, and then the evaluation of building extraction results was performed. Training dataset for building extraction were generated by using aerial orthophotos including various buildings, and evaluation was conducted in three areas. First, the model performance was evaluated through the region adjacent to the training dataset. In addition, the applicability of the model was evaluated through the region different from the training dataset. As a result, the f1-score of HRNetV2 represented the best values in terms of model performance and applicability. Through this study, the possibility of creating and modifying the building layer in the digital map was confirmed.

• Korean Journal of Heritage: History & Science
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• v.45 no.3
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• pp.174-193
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• 2012

This study focused on distribution ratio of stone properties based on material characteristic analysis, provenance presumption and transportation route interpretation of the Sungnyemun stone block foundation. The stone block foundation is composed of pinkish granite (56.0%), reddish granite (4.5%) and leucocratic granite (26.2%) of original stones and pinkish granite of new stones(13.3%). The rock-forming minerals for granites are consisted mainly of quartz, alkali-feldspar, plagioclase and biotite, and are similar geochemical evolution trend of major, rare earth, compatible and incompatible elements. Therefore, it is clear that the rocks are genetically same origin. As a result of magnetic susceptibility measurement, the pinkish and reddish granite of original stones and pinkish granite of new stones showed normal distribution around about 4.00(${\times}10^{-3}SI\;unit$). But the leucocratic granite of original stones were confirmed ilmenite series under about 1.00(${\times}10^{-3}SI\;unit$). As a result of provenance interpretation and transportation route analysis based on the petrological results, the provenance of pinkish granite and reddish granite of original stones are presumed the north slope in Namsan mountain and Naksan mountain. Also, the leucocratic granite of original stones and the pinkish granite of new stones are strongly possible furnished from the south and north slope in Namsan mountain and Naksan mountain, respectively.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.10
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• pp.12-19
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• 2004

An aerodynamic design optimization system for three-dimensional wing was developed as a part of the future MDO framework. The present design optimization system includes four modules such as geometry design, grid generation, flow solver and optimizer. All modules were based on commercial softwares and programmed to have automated execution capability in batch mode utilizing built-in script and journaling. The integration of all modules into the system was accomplished through programming using Visual Basic language. The distributed computational environment based on network communication was established to save computational time especially for time-consuming aerodynamic analyses. The distributed aerodynamic computations were performed in conjunction with the global optimization algorithm of response surface method, instead of using usual parallel computation based on domain decomposition. The application of the design system in the drag minimization problem demonstrated considerably enhanced efficiency of the design process while the final design showed reasonable results of reduced drag.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.34 no.3
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• pp.821-831
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• 2014

Stochastic rainfall generators or stochastic simulation have been widely employed to generate synthetic rainfall sequences which can be used in hydrologic models as inputs. The calibration of Poisson cluster stochastic rainfall generator (e.g. Modified Bartlett-Lewis Rectangular Pulse, MBLRP) is seriously affected by local minima that is usually estimated from the local optimization algorithm. In this regard, global optimization techniques such as particle swarm optimization and shuffled complex evolution algorithm have been proposed to better estimate the parameters. Although the global search algorithm is designed to avoid the local minima, reliable parameter estimation of MBLRP model is not always feasible especially in a limited parameter space. In addition, uncertainty associated with parameters in the MBLRP rainfall generator has not been properly addressed yet. In this sense, this study aims to develop and test a Bayesian model based parameter estimation method for the MBLRP rainfall generator that allow us to derive the posterior distribution of the model parameters. It was found that the HBM based MBLRP model showed better performance in terms of reproducing rainfall statistic and underlying distribution of hourly rainfall series.

• Journal of Korean Society of Transportation
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• v.23 no.3 s.81
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• pp.35-47
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• 2005

This paper is to review a literature concerning Bus Transit Route Network Design(BTRNDP), to describe a future study direction for a systematic application for the BTRNDP. Since a bus transit uses a fixed route, schedule, stop, therefore an approach methodology is different from that of auto network design problem. An approach methodology for BTRNDP is classified by 8 categories: manual & guideline, market analysis, system analytic model. heuristic model. hybrid model. experienced-based model. simulation-based model. mathematical optimization model. In most previous BTRNDP, objective function is to minimize user and operator costs, and constraints on the total operator cost, fleet size and service frequency are common to several previous approach. Transit trip assignment mostly use multi-path trip assignment. Since the search for optimal solution from a large search space of BTRNDP made up by all possible solutions, the mixed combinatorial problem are usually NP-hard. Therefore, previous researches for the BTRNDP use a sequential design process, which is composed of several design steps as follows: the generation of a candidate route set, the route analysis and evaluation process, the selection process of a optimal route set Future study will focus on a development of detailed OD trip table based on bus stop, systematic transit route network evaluation model. updated transit trip assignment technique and advanced solution search algorithm for BTRNDP.