• The Journal of the Acoustical Society of Korea
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• v.19 no.1
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• pp.61-66
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• 2000

In this paper, we are proposing an efficient 3D source localization algorithm using 3 uniform linear subarrays. The proposed algorithm replaces 3D search required in conventional 3D MUSIC algorithm with 3 1D searches, and thus reduces computational burden. The estimate of the 1D conic angle obtained from a subarray under the far-field assumption satisfies a nonlinear algebraic equation of the true source bearing angle, elevation angle, and range. The proposed algorithm estimates source location by solving 3 algebraic equations obtained from 3 subarrays. Comparing 3D MUSIC spectrums of the estimated source locations, the proposed algorithm solves pairing problem for multiple sources localization.

• The Journal of the Acoustical Society of Korea
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• v.28 no.4
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• pp.318-327
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• 2009

In this paper, we propose a 3-D geometric localization method for near-field broadband source in shallow water environments. According to the waveguide invariant theory, slope of the interference pattern which is seen in a sensor spectrogram directly proportional to a range of the source. The relative ratio of the range between source and sensors was estimated by matching of two interference patterns in spectrogram. Then this ratio is applied to the Apollonius's circle which shows the locus of a source whose range ratio from two sensors is constant. Two Apollonius's circles from three sensors make the intersection point that means the horizontal range and the azimuth angle of the source. And this intersection point is constant with source depth. Therefore the source depth can be estimated using 3-D hyperboloid equation whose range difference from two sensors is constant. To evaluate a performance of the proposed localization algorithm, simulation is performed using acoustic propagation program and analysis of localization error is demonstrated. From simulation results, error estimate for range and depth is described within 50 m and 15 m respectively.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.4B
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• pp.378-385
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• 2011

The three-dimensional triangulation algorithm that the beacon nodes can be allocated to dynamically in not the experimental region but the practical region is suggested, and the performance of the localization system adapting the suggested algorithm is analyzed. The suggested algorithm adapts the computation method of the three dimensional point that the surfaces of three spheres overlapped, while the traditional triangulation algorithm adapts the computation method of the two dimensional point that three circles are overlapped in order to compute the distance between beacon nodes and mobile node that means a radius. In addition to this, to analyze the performance of the localization system adapting the suggested algorithm, first of all, the allocation layout of beacon nodes is made, and the allocation layout is modeled by selection of ten random distance values between mobile node and beacon nodes for computer simulation of the practical model. Next, the two dimensional coordinator of mobile node that is calculated by the suggested algorithm and the traditional triangulation algorithm is compared with each other. The localization measuring performance about three dimensional coordinator(z axis) of the suggested algorithm is also obtained by comparing with that of the practical model.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.7
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• pp.686-692
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• 2006

This paper shows the calculation of 3D geometric information such as height, direction and distance under the constraints of a catadioptric camera system. The catadioptric camera system satisfies the single viewpoint constraints adopting hyperboloidal mirror. To calculate the 3D information with a single omni-directional image, the points are assumed to lie in perpendicular to the ground. The infinite plane is also detected as a circle from the structure of the mirror and camera. The analytic experiments verify the correctness of theory using real images taken in indoor environments like rooms or corridors. Thus, the experimental results show the applicability to calculate the 3D geometric information using single omni-directional images.

• Journal of Communications and Networks
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• v.18 no.3
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• pp.397-410
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• 2016

This paper proposes a novel cooperative localization method for distributed wireless networks in 3-dimensional (3D) global positioning system (GPS) denied environments. The proposed method, which is referred to as hybrid ellipsoidal variational algorithm (HEVA), combines the use of non-parametric belief propagation (NBP) and variational Bayes (VB) to benefit from both the use of the rich information in NBP and compact communication size of a parametric form. InHEVA, two novel filters are also employed. The first one mitigates non-line-of-sight (NLoS) time-of-arrival (ToA) messages, permitting it to work well in high noise environments with NLoS bias while the second one decreases the number of calculations. Simulation results illustrate that HEVA significantly outperforms traditional NBP methods in localization while requires only 50% of their complexity. The superiority of VB over other clustering techniques is also shown.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.48 no.6
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• pp.114-122
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• 2011

We propose an automatic localization technique based on Uniform Arc Length Sampling (UALS) of 360 degree range sensor data. The proposed method samples 3D points from dense a point-cloud which is acquired by the sensor, registers the sampled points to a digital surface model(DSM) in real-time, and determines the location of an Unmanned Ground Vehicle(UGV). To reduce the sampling and registration time of a sequence of dense range data, 3D range points are sampled uniformly in terms of ground sample distance. Using the proposed method, we can reduce the number of 3D points while maintaining their uniformity over range data. We compare the registration speed and accuracy of the proposed method with a conventional sample method. Through several experiments by changing the number of sampling points, we analyze the speed and accuracy of the proposed method.

• Progress in Medical Physics
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• v.9 no.1
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• pp.1-9
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• 1998

In order to provide complementary image data, CT(computed tomography), MR(magnetic resonance) and angiography have been used in the field of Stereotactic Radiosurgery(SRS) and neurosurgery. The aim of this work is to develop 3-D stereotactic localization system in order to determine the precise shape, size and location of the lesion in the brain in the field of Stereotactic Radiosurgery(SRS) and neurosurgery using multi-image modality and multi purpose QA phantom. In order to obtain accurate position of a target, Hitchcoke stereotactic frame and CT/angiography localizers were rigidly attached to the phantom with nine targets dispersed in 3-D space. The algorithms to obtain a 3-D stereotactic coordinates of the target have been developed using the images of the geometrical phantom which were taken by CT/angiography. Positions of targets computed by our algorithms were compared to the absolute position assigned in the phantom. Outlines of targets on each CT image were superimposed each other on angiography images. A spatial mean distance errors were 1.02${\pm}$0.17mm for CT with a 512${\times}$512 matrix and 2mm slice thickness, 0.41${\pm}$0.05mm for angiogra- phy localization. The resulting accuracy in the target localization suggests that the developed system has enough Qualification for Stereotactic Radiosurgery (SRS).

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.6
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• pp.2263-2268
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• 2010

In this paper, the hybrid compensation algorithm($A_{HB}$) for localization using the Compensation Algorithm distance($CA_d$) and the Algorithm of Equivalent Distance Rate(AEDR) in SDS-TWR(Symmetric Double-Sided Two-Way Ranging) is suggested and the performance of the proposed algorithm is analyzed by practical experimentations. From experimentations, it is confirmed that the errors are reduced in 28 coordinates of total 32 coordinates in the experimental region and the errors are reduced about above 70% in the assigned 3 type error level ranges by $A_{HB}$. Also, it is analyzed that the average localization error is reduced from 2.67m to 1.19m as 55.4% in total 32 coordinates by $A_{HB}$ and the error compensation capability of $A_{HB}$ is very excellent as above 90%. From above results, we have seen that the error reduction ratio and error compensation capability of $A_{HB}$ is more excellent than each $CA_d$ or AEDR.

• Journal of Broadcast Engineering
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• v.11 no.4 s.33
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• pp.448-457
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• 2006

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. Informal listening tests show that the proposed method improves the front-back sound localization characteristics much better than the conventional methods.

• Journal of Power System Engineering
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• v.17 no.5
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• pp.100-111
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• 2013

Indoor real-time positioning for multiple targets is required to realize human-robot symbiosis. This study firstly presents positioning accuracy on an autonomous mobile robot controlled by 3-D coordinates that is obtained by a real-time indoor positioning system with spread spectrum (SS) ultrasonic signals communicated by code-division multiple access. Although many positioning systems have been investigated, the positioning system with the SS ultrasonic signals can measure identified multiple 3-D positions in every 70 ms with noise tolerance and error within 100 mm. This system is also robust to occlusion and environmental changes. However, thus far, the positioning errors in an autonomous mobile robot, controlled by these systems using the SS ultrasonic signals, have not been evaluated as an experimental study. Therefore, a positioning experiment for trajectory control is conducted using an autonomous mobile robot and our positioning system. The effectiveness of this positioning method for robot self-localization is shown, from this experiment, because the average control error between the target position and the robot's position at 29 mm is obtained.