• Journal of Positioning, Navigation, and Timing
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• 제6권4호
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• pp.159-166
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• 2017

The position of autonomous driving vehicle is basically acquired through the global positioning system (GPS). However, GPS signals cannot be received in tunnels. Due to this limitation, localization of autonomous driving vehicles can be made through sensors mounted on them. In particular, a 3D Light Detection and Ranging (LIDAR) system is used for longitudinal position error correction. Few feature points and structures that can be used for localization of vehicles are available in tunnels. Since lanes in the road are normally marked by solid line, it cannot be used to recognize a longitudinal position. In addition, only a small number of structures that are separated from the tunnel walls such as sign boards or jet fans are available. Thus, it is necessary to extract usable information from tunnels to recognize a longitudinal position. In this paper, fire hydrants and evacuation guide lights attached at both sides of tunnel walls were used to recognize a longitudinal position. These structures have highly distinctive reflectivity from the surrounding walls, which can be distinguished using LIDAR reflectivity data. Furthermore, reflectivity information of tunnel walls was fused with the road surface reflectivity map to generate a synthetic reflectivity map. When the synthetic reflectivity map was used, localization of vehicles was able through correlation matching with the local maps generated from the current LIDAR data. The experiments were conducted at an expressway including Maseong Tunnel (approximately 1.5 km long). The experiment results showed that the root mean square (RMS) position errors in lateral and longitudinal directions were 0.19 m and 0.35 m, respectively, exhibiting precise localization accuracy.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2004년도 Proceedings of ISRS 2004
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• pp.128-131
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• 2004

In this paper, we describe reconstructed 3D-urban modeling techniques for laser scanner and CCD camera system, which are loading on the vehicle. We use two laser scanners, the one is horizon scanner and the other is vertical scanner. Horizon scanner acquires the horizon data of building for localization. Vertical scan data are main information for constructing a building. We compared extraction of edge aerial image with laser scan data. This method is able to correct the cumulative error of self-localization. Then we remove obstacles of 3D-reconstructed building. Real-texture information that is acquired with CCD camera is mapped by 3D-depth information. 3D building of urban is reconstructed to 3D-virtual world. These techniques apply to city plan. 3D-environment game. movie background. unmanned-patrol etc.

• 한국항행학회논문지
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• 제26권2호
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• pp.78-84
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• 2022

본 논문에서는 다중 신호원이 존재하는 경우에 닫힌 형태 기반의 3차원 위치 추정 기법을 제안한다. TDOA나 AOA, FDOA와 같은 일반적인 위치 추정 기술은 단일 신호원이 존재하는 경우에 위치를 추정할 수 있으며, 미상의 다중 신호원이 존재하는 경우에 이를 구분하여 위치를 추정하는데 한계가 있다. 제안된 기법은 배열 안테나를 갖는 센서에 수신된 신호의 상호상관 벡터를 계산하고, 상호상관 값으로부터 TDOA값과 AOA값을 추정한다. 그리고 기준 센서의 위치를 이용하여 좌표 변환을 수행하고, 변환된 좌표에 대해 추정된 AOA값을 이용하여 좌표 회전을 수행한 후 각 신호원에 대한 3차원 위치를 추정한다. 제안된 기법은 컴퓨터 모의실험을 통해 그 성능을 검증한다.

• 한국세라믹학회지
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• 제36권1호
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• pp.50-54
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• 1999

양이온 결손 La0.970Mn0.970O3의 x-ray photoemission spectroscopy를 온도를 함수로 측정하였다. 온도의 변화에 따라서 Mn 2p와 3d core level의 화학적 변동 및 이동이 관측되었다. 즉 Mn 2p 3/2와 1/2 및 La 3d core 스펙트럼은 온도의 증가와 함께 저 결합 에너지 측으로 이동이 관측되었다. 이러한 XPS 관측 결과는 Mn3+의 localization의 강도 변화에 의한 것으로 사료되며, Mn3+에 의한 Jahn-Teller효과 이외에도 conventional random potential 효과 역시 La0.790Mn0.970O3의 전도 carrier의 localization에 기여하는 것으로 사료된다.

• 로봇학회논문지
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• 제17권2호
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• pp.110-117
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• 2022

This paper describes a localization algorithm utilizing relative observations for multiple autonomous underwater vehicles (Multiple-AUVs). In order to maximize the efficiency of operation and mission accomplishment and to prevent problems such as collision and interference, the locations and directions of Multiple-AUVs must be precisely estimated. To estimate the locations and directions, we designed a localization algorithm utilizing relative observations and verified it with simulations based on sensor data sets acquired through real sea experiments. Also, an optimal combination of relative observation information for efficient localization is figured out through combining various relative observations. The proposed method shows improved localization results compared to those only using the navigation algorithm. The performance of localization is improved up to 58% depending on the combination of relative observations.

• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제1권1호
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• pp.43-54
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• 2012

본 논문에서는 야지 환경에서 동작하는 무인이동로봇에서 획득한 3차원 LIDAR (Light Detection and Ranging) 센서 정보와 로봇이 이동하는 지형의 3차원 DSM (Digital Surface Map)에서 정사윤곽선(Ortho-edge) 특징영상을 생성하고 정합하여 로봇의 현재 위치를 추정하는 기술을 제안한다. 최근의 무인이동로봇의 위치 인식에 대한연구는 GPS (Global Positioning System), IMU (Inertial Measurement Unit), LIDAR 등의 위치인식 센서를 융합하는 경우가 많아지고 있다. 특히 LIDAR에서 획득한 거리정보를 ICP(Iterative Closest Point) 기반의 기하정합으로 로봇의 위치를 추정하는 기술이 개발되고 있다. 그러나 이동로봇에서 획득한 센서 정보는 DSM의 센싱 방향과 큰 차이차이가 있어 기존의 기하정합 기술을 사용하는데 어려움이 있다. 본 논문에서는 서로 다른 센싱 방향에서 획득한 3차원 LIDAR 거리정보와 DSM에서 정사윤곽선이라는 특징 영상을 생성하고 이들을 정합하여 로봇의 위치를 추정하는 새로운 기술을 제안한다. DSM으로부터 현재 시점의 정사윤곽선 영상을 생성하는 방법, 전방향 LIDAR 거리센서에서 정사윤곽선 영상을 생성하는 방법, 그리고 정사윤곽선 영상의 정합 기술을 설명하였다. 실험에서는 다양한 주행 경로에 대한 위치 추정의 오차를 분석하고 제안 기술의 성능의 우수성을 보였다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2007년도 하계종합학술대회 논문집
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• pp.415-416
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• 2007

HRTF DB, including the information of the sounds which is arrived to our ears, is generally used to make a 3D sound. But it can decline some three-dimensional effects by the confusion between front and back directions due to the non-individual HRTF depending on each listener. In this paper, we propose a new method to use psychoacoustic theory that reduces the confusion of sound image localization. And we make use of an excitation energy by the sense of hearing. This method is brought HRTF spectrum characteristics into relief to draw out the energy ratio about the bark band and control low frequency band. Informal listening tests show that the proposed method improves the front-back sound localization characteristics much better than the conventional methods.

• 한국측량학회지
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• 제37권5호
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• pp.331-341
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• 2019

With the popularity of sensor-rich environments, smartphones have become one of the major platforms for obtaining and sharing information. Since it is difficult to utilize GNSS (Global Navigation Satellite System) inside the area with many buildings, the localization of smartphone in this case is considered as a challenging task. To resolve problem of localization using smartphone a four step image-based localization method and procedure is proposed. To improve the localization accuracy of smartphone datasets, MMS (Mobile Mapping System) and Google Street View were utilized. In our approach first, the searching for candidate matching image is performed by the query image of smartphone's using GNSS observation. Second, the SURF (Speed-Up Robust Features) image matching between the smartphone image and reference dataset is done and the wrong matching points are eliminated. Third, the geometric transformation is performed using the matching points with 2D affine transformation. Finally, the smartphone location and attitude estimation are done by PnP (Perspective-n-Point) algorithm. The location of smartphone GNSS observation is improved from the original 10.204m to a mean error of 3.575m. The attitude estimation is lower than 25 degrees from the 92.4% of the adjsuted images with an average of 5.1973 degrees.

• Journal of Radiation Protection and Research
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• 제20권1호
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• pp.25-36
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• 1995

The purpose of this research is to develop stereotactic localization and radiation measurement system for the efficient and precise radiosurgery. The algorithm to obtain a 3-D stereotactic coordinates of the target has been developed using a Fisher CT or angio localization. The procedure of stereotactic localization was programmed with PC computer, and consists of three steps: (1) transferring patient images into PC; (2) marking the position of target and reference points of the localizer from the patient image; (3) computing the stereotactic 3-D coordinates of target associated with position information of localizer. Coordinate transformation was quickly done on a real time base. The difference of coordinates computed from between Angio and CT localization method was within 2 mm, which could be generally accepted for the reliability of the localization system developed. We measured dose distribution in small fields of NEC 6 MVX linear accelerator using various detector; ion chamber, film, diode. Specific quantities measured include output factor, percent depth dose (PDD), tissue maximum ratio (TMR), off-axis ratio (OAR). There was small variation of measured data according to the different kinds of detectors used. The overall trends of measured beam data were similar enough to rely on our measurement. The measurement was performed with the use of hand-made spherical water phantom and film for standard arc set-up. We obtained the dose distribution as we expected. In conclusion, PC-based 3-D stereotactic localization system was developed to determine the stereotactic coordinate of the target. A convenient technique for the small field measurement was demonstrated. Those methods will be much helpful for the stereotactic radiosurgery.

• 한국통신학회논문지
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• 제29권8C호
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• pp.1142-1148
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• 2004

일반적으로 2채널의 헤드폰에서 입체음향을 생성하기 위해서는 HRTF(Head Related Transfer Function) DB를 이용한 바이노럴(binaural) 합성기법을 사용하게 된다(1). 그러나 비 개인화 된 HRTF DB를 이용하여 생성된 2채널 입체음향은 사용자에 따라 앞/ 뒤 또는 상/하 방향에 대해서 혼돈을 가져와 입체감을 저하시킬 수 있다. 본 논문에서는 앞/뒤 음상정위의 혼돈을 개선하기 위해 스펙트럼 단서를 부각시키는 기존의 알고리즘을 분석하고 이를 토대로 혼돈 방향의 HRTF의 차이 성분을 이용하여 스펙트럼 특성을 강조하는 방법을 제안하였다. 또한, 제안한 방식이 기존의 방법에 비해 앞/뒤 방향감이 개선됨을 청감평가 실험을 통해 확인하였다.