• Tunnel and Underground Space
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• v.34 no.1
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• pp.1-14
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• 2024

An image-reconstruction technology, involving the deployment of an unmanned mobility equipped with high-speed LiDAR (Light Detection And Ranging) has been proposed to reconstruct the shape of abandoned mine. Unmanned mobility operation is remarkably useful in abandoned mines fraught with operational difficulties including, but not limited to, obstacles, sludge, underwater and narrow tunnel with the diameter of 1.5 m or more. For cases of real abandoned mines, quadruped robots, quadcopter drones and underwater drones are respectively deployed on land, air, and water-filled sites. In addition to the advantage of scanning the abandoned mines with 2D solid-state lidar sensors, rotation of radiation at an inclination angle offers an increased efficiency for simultaneous reconstruction of mineshaft shapes and detecting obstacles. Sensor and robot posture were used for computing rotation matrices that helped compute geographical coordinates of the solid-state lidar data. Next, the quadruped robot scanned the actual site to reconstruct tunnel shape. Lastly, the optimal elements necessary to increase utility in actual fields were found and proposed.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.40 no.5
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• pp.312-321
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• 2003

In this paper, we implement robot which are ability to recognize obstacles and moving automatically to destination. we present two results in this paper; hardware implementation of image processing board and software implementation of visual feedback algorithm for a self-controlled robot. In the first part, the mobile robot depends on commands from a control board which is doing image processing part. We have studied the self controlled mobile robot system equipped with a CCD camera for a long time. This robot system consists of a image processing board implemented with DSPs, a stepping motor, a CCD camera. We will propose an algorithm in which commands are delivered for the robot to move in the planned path. The distance that the robot is supposed to move is calculated on the basis of the absolute coordinate and the coordinate of the target spot. And the image signal acquired by the CCD camera mounted on the robot is captured at every sampling time in order for the robot to automatically avoid the obstacle and finally to reach the destination. The image processing board consists of DSP (TMS320VC33), ADV611, SAA7111, ADV7l76A, CPLD(EPM7256ATC144), and SRAM memories. In the second part, the visual feedback control has two types of vision algorithms: obstacle avoidance and path planning. The first algorithm is cell, part of the image divided by blob analysis. We will do image preprocessing to improve the input image. This image preprocessing consists of filtering, edge detection, NOR converting, and threshold-ing. This major image processing includes labeling, segmentation, and pixel density calculation. In the second algorithm, after an image frame went through preprocessing (edge detection, converting, thresholding), the histogram is measured vertically (the y-axis direction). Then, the binary histogram of the image shows waveforms with only black and white variations. Here we use the fact that since obstacles appear as sectional diagrams as if they were walls, there is no variation in the histogram. The intensities of the line histogram are measured as vertically at intervals of 20 pixels. So, we can find uniform and nonuniform regions of the waveforms and define the period of uniform waveforms as an obstacle region. We can see that the algorithm is very useful for the robot to move avoiding obstacles.

• Progress in Medical Physics
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• v.22 no.1
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• pp.28-34
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• 2011

To perform the Adaptive Radiation Therapy (ART), a high degree of deformable registration accuracy is essential. The purpose of this study is to identify whether the change of MV CBCT intensity can improve registration accuracy using predefined modification level and filtering process. To obtain modification level, the cheese phantom images was acquired from both kilovoltage CT (kV CT), megavoltage cone-beam CT (MV CBCT). From the cheese phantom images, the modification level of MV CBCT was defined from the relationship between Hounsfield Units (HUs) of kV CT and MV CBCT images. 'Gaussian smoothing filter' was added to reduce the noise of the MV CBCT images. The intensity of MV CBCT image was changed to the intensity of the kV CT image to make the two images have the same intensity range as if they were obtained from the same modality. The demon deformable registration which was efficient and easy to perform the deformable registration was applied. The deformable lung phantom which was intentionally created in the laboratory to imitate the changes of the breathing period was acquired from kV CT and MV CBCT. And then the deformable lung phantom images were applied to the proposed method. As a result of deformable image registration, the similarity of the correlation coefficient was used for a quantitative evaluation of the result was increased by 6.07% in the cheese phantom, and 18% in the deformable lung phantom. For the additional evaluation of the registration of the deformable lung phantom, the centric coordinates of the mark which was inserted into the inner part of the phantom were measured to calculate the vector difference. The vector differences from the result were 2.23, 1.39 mm with/without modification of intensity of MV CBCT images, respectively. In summary, our method has quantitatively improved the accuracy of deformable registration and could be a useful solution to improve the image registration accuracy. A further study was also suggested in this paper.

• Investigative Magnetic Resonance Imaging
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• v.16 no.1
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• pp.67-75
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• 2012

Purpose : We studied enhanced method to view the vessels in the brain using Magnetic Resonance Angiography (MRA). Noticing that Maximum Intensity Projection (MIP) image is often used to evaluate the arteries of the neck and brain, we propose a new method for view brain vessels to stereo image in 3D space with more superior and more correct compared with conventional method. Materials and Methods: We use 3T Siemens Tim Trio MRI scanner with 4 channel head coil and get a 3D MRA brain data by fixing volunteers head and radiating Phase Contrast pulse sequence. MRA brain data is 3D rotated according to the view angle of each eyes. Optimal view angle (projection angle) is determined by the distance between eye and center of the data. Newly acquired MRA data are projected along with the projection line and display only the highest values. Each left and right view MIP image is integrated through anaglyph imaging method and optimal stereoscopic MIP image is acquired. Results: Result image shows that proposed method let enable to view MIP image at any direction of MRA data that is impossible to the conventional method. Moreover, considering disparity and distance from viewer to center of MRA data at spherical coordinates, we can get more realistic stereo image. In conclusion, we can get optimal stereoscopic images according to the position that viewers want to see and distance between viewer and MRA data. Conclusion: Proposed method overcome problems of conventional method that shows only specific projected image (z-axis projection) and give optimal depth information by converting mono MIP image to stereoscopic image considering viewers position. And can display any view of MRA data at spherical coordinates. If the optimization algorithm and parallel processing is applied, it may give useful medical information for diagnosis and treatment planning in real-time.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.4
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• pp.144-159
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• 2014

Techniques for making a single panoramic image using multiple pictures are widely studied in many areas such as computer vision, computer graphics, etc. The panorama image can be applied to various fields like virtual reality, robot vision areas which require wide-angled shots as an useful way to overcome the limitations such as picture-angle, resolutions, and internal informations of an image taken from a single camera. It is so much meaningful in a point that a panoramic image usually provides better immersion feeling than a plain image. Although there are many ways to build a panoramic image, most of them are using the way of extracting feature points and matching points of each images for making a single panoramic image. In addition, those methods use the RANSAC(RANdom SAmple Consensus) algorithm with matching points and the Homography matrix to transform the image. The SURF(Speeded Up Robust Features) algorithm which is used in this paper to extract featuring points uses an image's black and white informations and local spatial informations. The SURF is widely being used since it is very much robust at detecting image's size, view-point changes, and additionally, faster than the SIFT(Scale Invariant Features Transform) algorithm. The SURF has a shortcoming of making an error which results in decreasing the RANSAC algorithm's performance speed when extracting image's feature points. As a result, this may increase the CPU usage occupation rate. The error of detecting matching points may role as a critical reason for disqualifying panoramic image's accuracy and lucidity. In this paper, in order to minimize errors of extracting matching points, we used $3{\times}3$ region's RGB pixel values around the matching points' coordinates to perform intermediate filtering process for removing wrong matching points. We have also presented analysis and evaluation results relating to enhanced working speed for producing a panorama image, CPU usage rate, extracted matching points' decreasing rate and accuracy.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.24 no.1
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• pp.16-25
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• 2012

To calculate the total mass flux that change in dry and flood season in the Yeomha Channel of Gyeonggi Bay, the 13 hour bottom tracking observation was performed from the southern extremity. The value of the total mass flux(Lagrange flux) was calculated as the sum of the Eulerian flux value and stroke drift value and the tidal residual flow was harmonically analyzed through the least-squares method. Moreover, the average during the tidal cycle is essential to calculate the mass flux and the tidal residual flow and there is the need to equate the grid of repeatedly observed data. Nevertheless, due to the great differences in the studied region, the number of vertical grid tends to change according to time and since the horizontal grid differs according to the transport speed of the ship as a characteristic of the bottom tracking observation, differences occur in the horizontal and vertical grid for each hour. Hence, the present study has vertically and horizontally normalized(sigma coordinate) to equate the grid per each hour. When compared to the z-level coordinate system, the Sigma coordinate system was evaluated to have no irrationalities in data analysis with 5% of error. As a result of the analysis, the tidal residual flow displayed the flow pattern of sagging in the both ends in the main waterway direction of dry season. During flood season, it was confirmed that the tidal residual flow was vertical 2-layer flow. As a result of the total mass flux, the ebb properties of 359 cm/s and 261 cm/s were observed during dry and flood season, respectively. The total mass flux was moving the intertidal region between Youngjong-do and Ganghwa-do.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.4_1
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• pp.299-309
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• 2014

This paper evaluated the possibility for 1/5,000 digital topographic mapping by using PLEIADES images of 0.5m GSD(Ground Sampling Distance) resolution that has recently launched. Those results of check points by applying the initial RPC(Rational Polynomial Coefficient) of PLEIADES images came out as; RMSE of those were $X={\pm}1.806m$, $Y={\pm}2.132m$, $Z={\pm}1.973m$. Also, if we corrected geometric correction using 16 GCP(Ground Control Point)s, the results of RMSE became $X={\pm}0.104m$, $Y={\pm}0.171m$, $Z={\pm}0.036m$, and t he RMSE of check points were $X={\pm}0.357m$, $Y={\pm}0.239m$, $Z={\pm}0.188m$; which of those results indicated the accuracy of standard adjustment complied in error tolerances of the 1/5,000 scale. Additionally, we converted coordinates of points, obtained by TerraSAR. for comparing with measurements from GPS(Global Positioning System) surveying. The RMSE of comparing converted and GPS points were $X={\pm}0.818m$, $Y={\pm}0.200m$, $Z={\pm}0.265m$, which confirmed the possibility for 1/5,000 digital topographic mapping with PLEIADES images and GCPs. As method of obtaining GCPs in unaccessible area, however, the outcome evaluation of GCPs extracted from TerraSAR images was not acceptable for 1/5,000 digital topographic mapping. Therefore, we considered that further researches are needed on applicability of GCPs extracted from TerraSAR images for future alternative method.

• Journal of the Korean Association of Geographic Information Studies
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• v.21 no.4
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• pp.175-190
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• 2018

Recently, policy of the marine advanced countries were switched from the preemption using ocean to post-project development. In this study, we suggest improvement and the pending issues when are deducted to the database of the marine spatial information is constructed over the GIS system for the Korean Marine Spatial Planning (KMSP). More than 250 spatial information in the seas of Korea were processed in order of data collection, GIS transformation, data analysis and processing, data grouping, and space mapping. It's process had some problem occurred to error of coordinate system, digitizing process for lack of the spatial information, performed by overlapping for the original marine spatial information, and so on. Moreover, solution is needed to data processing methods excluding personal information which is necessary when produce the spatial data for analysis of the used marine status and minimized method for different between the spatial information based GIS system and the based real information. Therefore, collection and securing system of lacking marine spatial information is enhanced for marine spatial planning. it is necessary to link and expand marine fisheries survey system. It is needed to the marine spatial planning. The marine spatial planning is required to the evaluation index of marine spatial and detailed marine spatial map. In addition, Marine spatial planning is needed to standard guideline and system of quality management. This standard guideline generate to phase for production, processing, analysis, and utilization. Also, the quality management system improve for the information quality of marine spatial information. Finally, we suggest necessity need for the depths study which is considered as opening extension of the marine spatial information and deduction on application model.