• 제어로봇시스템학회논문지
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• 제22권9호
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• pp.745-752
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• 2016

We suggest an efficient Simultaneous Localization and 3D Polygon Map Building (SLAM) method with Kinect depth sensor for mobile robots in indoor environments. In this method, Kinect depth data is separated into row planes so that scan line segments are on each row plane. After grouping all scan line segments from all row planes into line groups, a set of 3D Scan polygons are fitted from each line group. A map matching algorithm then figures out pairs of scan polygons and existing map polygons in 3D, and localization is performed to record correct pose of the mobile robot. For 3D map-building, each 3D map polygon is created or updated by merging each matched 3D scan polygon, which considers scan and map edges efficiently. The validity of the proposed 3D SLAM algorithm is revealed via experiments.

• 한국정보통신학회논문지
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• 제20권3호
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• pp.513-518
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• 2016

본 논문은 라인 레이저 기반 3차원 스캐너에서 투영을 이용한 고속 메쉬 생성 방법을 제안한다. 3차원 공간에서의 메쉬를 생성하기 위한 가장 알려진 방법은 3차원의 점을 4차원으로 변환하고 4차원 컨벡스 헐(convex hull)을 구축하는 방법을 활용한다. 이런 방법은 많은 수의 점 데이터를 가지는 3D 스캔 결과에서는 메쉬를 만들 때 시간이 많이 요구된다. 제안하는 방법에서는 라인 레이저 스캐너에서 중간에 얻어지는 (${\theta}$, y, z)축의 점 정보를 투영하여 얻어진 (${\theta}-y$) 2차원 깊이 지도를 메쉬 생성에 활용한다. 제안된 방법은 2D 영역에서 수행되기 때문에 메쉬를 구성하는 시간이 상당히 단축된다. 제안하는 방법을 평가하기 위해서 라인 레이저 기반 스캐너의 중간 데이터를 이용하여 실험을 진행하였다. 실험 결과는 제안된 방법이 기존방법보다 고속 메시 생성에서 우수함을 보여준다.

• 대한전자공학회논문지
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• 제22권6호
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• pp.97-102
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• 1985

Branch-line 하이브리드 3dB 결합기에 λ/2-단락선로 스터브와 λ/4 -개방선로 스터브를 달결하여 입역임퍼던스 정합을 시키면서 스터브의 정재파를 이용하는 새로운 형연의 마이크로담대 선로 각도수 배별기의 이론을 제시하고 그것을 C-band에서 실현하였다. 실험적으로 중심주파수 4.940Hz에서 인별대역폭이 400MHz까지 선형성이 좋으며 return loss>15dB로서 사용할 수 있는 임피던스 정합특성을 가지는 인별기를 얻을 수 있음을 확인하였다.

• 로봇학회논문지
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• 제11권4호
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• pp.300-309
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• 2016

This paper proposes a method for motion estimation of consecutive cameras using 3-D straight lines. The motion estimation algorithm uses two non-parallel 3-D line correspondences to quickly establish an initial guess for the relative pose of adjacent frames, which requires less correspondences than that of current approaches requiring three correspondences when using 3-D points or 3-D planes. The estimated motion is further refined by a nonlinear optimization technique with inlier correspondences for higher accuracy. Since there is no dominant line representation in 3-D space, we simulate two line representations, which can be thought as mainly adopted methods in the field, and verify one as the best choice from the simulation results. We also propose a simple but effective 3-D line fitting algorithm considering the fact that the variance arises in the projective directions thus can be reduced to 2-D fitting problem. We provide experimental results of the proposed motion estimation system comparing with state-of-the-art algorithms using an open benchmark dataset.

• 한국의류학회지
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• 제28권11호
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• pp.1536-1543
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• 2004

Garment is made by a 2D pattern and should be fitted to a human body which has 3D characteristics. Therefore, to design a pattern more effectively, the use of 3D information of a human body and the investigation of relationship between the 3D garment and 2D pattern are necessary. In this work, ruled surface method was used to reflect the 3D information of a human body for a pattern design. The images of the brassiere line on the woman's dress form were captured by phase-shifting projection moire system and the 3D information on the design line was obtained. 2D patterns on the various parts of the brassiere were developed directly from the 3D data by the ruled surface method. In addition, design line, the area and the amount of dart were quantified. And then we verify the appropriateness of the ruled surface method to the 2D pattern development by measuring the distribution of the space between women's figure and segmented clothing item. It was found that the ruled surface method is useful to transform the 3D design line to the 2D pattern, if we followed the steps suggested in this paper.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권4호
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• pp.277-285
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• 2004

We present a new hybrid stereo matching technique in terms of the co-operation of area-based stereo and feature-based stereo. The core of our technique is that feature matching is carried out by the reference of the disparity evaluated by area-based stereo. Since the reference of the disparity can significantly reduce the number of feature matching combinations, feature matching error can be drastically minimized. One requirement of the disparity to be referenced is that it should be reliable to be used in feature matching. To measure the reliability of the disparity, in this paper, we employ the self-consistency of the disunity Our suggested technique is applied to the detection of 3D line segments by 2D line matching using our hybrid stereo matching, which can be efficiently utilized in the generation of the rooftop model from urban imagery. We carry out the experiments on our hybrid stereo matching scheme. We generate synthetic images by photo-realistic simulation on Avenches data set of Ascona aerial images. Experimental results indicate that the extracted 3D line segments have an average error of 0.5m and verify our proposed scheme. In order to apply our method to the generation of 3D model in urban imagery, we carry out Preliminary experiments for rooftop generation. Since occlusions are occurred around the outlines of buildings, we experimentally suggested multi-image hybrid stereo system, based on the fusion of 3D line segments. In terms of the simple domain-specific 3D grouping scheme, we notice that an accurate 3D rooftop model can be generated. In this context, we expect that an extended 3D grouping scheme using our hybrid technique can be efficiently applied to the construction of 3D models with more general types of building rooftops.

• 한국전자파학회논문지
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• 제23권7호
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• pp.774-783
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• 2012

본 논문에서는 주기적인 요철 모양의 구조를 이용하여 인접해 있는 선로 간의 누화(crosstalk) 감소 효과를 갖는 전송 선로를 제안한다. 요철 모양의 전송 선로는 인접한 선로 간의 유도성 커플링과 용량성 커플링의 크기를 동일하게 조절이 가능하다. 따라서 유도성과 용량성의 커플링이 서로 상쇄되기 때문에 누화 감소 효과를 갖는다. 요철 모양의 전송 선로는 비유전율이 3.38이며, 두께가 0.508 mm인 RO4003 기판 위에 설계하였다. 전산모의 실험 결과, 일반적인 전송 선로와 주기 간격이 A=1 mm인 요철 모양 전송 선로의 far-end 누화는 30 GHz까지 각각 최대 -3.6 dB와 -22 dB 값을 가진다. 측정 결과, 일반적인 전송 선로와 A=1 mm인 요철 모양 전송 선로의 far-end 누화는 30 GHz까지 각각 최대 -6.3 dB와 -20.5 dB 값을 가진다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1731-1734
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• 2003

We propose a unmaned integrating control system based-on Windows XP version Off-Line Programming System which can simulate a Robot model in 3D Graphics space in this paper. The robot with 4 and 6 axes modeled SM5 and AM1 respectively were adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed off-line program. The interface between users and the off-line programming system in the Windows XP's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• 패션비즈니스
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• 제24권5호
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• pp.106-124
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• 2020

The purpose of this study was to analyze the three-dimensional (3D) characteristics and reproducibility of the effective expression of North American smocking pleats in the process of making clothes using a 3D virtual clothing system (CLO) and present a method of expression according to the types of North American smocking. In this study, lattice, lozenge, and flower smocking were produced as real smocking and 3D virtual content, and actual muslin properties were measured using a Fabric Kit and reflected using an emulator. The results of this study confirmed that a dense puckered design such as North American smocking could be expressed depending upon the internal line, fold angle, and reinforcement setting for 3D smocking. To partially apply pleats to flat fabrics, it was necessary to set fold lines. The fold line setting could be expressed by designing the internal line in horizontal, vertical, and diagonal directions according to the North American smocking design, and then setting the fold angle for each internal line. By setting fold angles of 0 degrees and 360 degrees according to the folding direction of the set internal line, the fabric was clearly folded and stable pleats were created. This study will contribute to the vitalization of the 3D virtual fashion content industry by analyzing and presenting the optimal expression method of sophisticated and complex pleats generated according to the North American smocking design pattern.

• 한국정보통신학회논문지
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• 제18권10호
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• pp.2339-2344
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• 2014

마이크로스트립 선로 형태의 전송선로 밑면에 플로팅 동판을 위치시키면 플로팅 동판과 접지면 사이의 단락 또는 개방 연결에 따라 전송선로는 마이크로스트립 선로 또는 코플라나 선로 형태로 동작하게 된다. 이러한 동작은 하나의 전송 선로 폭에 대해 서로 다른 두 개의 특성 임피던스를 가질 수 있음을 의미한다. 플로팅 동판이 존재하는 마이크로스트립 전송 선로를 이용하여 안정적인 입력 정합 상태를 가지며 조건에 따라 단순히 신호를 전달하는 2-단자 전력 전송 선로 또는 전력 분배가 가능한 2-way 전력 분배 회로로 동작할 수 있는 가변 전송선로를 제안 및 제작하였다. 제안된 회로는 코플라나 선로로 동작하는 경우에는 전력 전송 선로로 동작하고, 마이크로스트립 선로로 동작하는 경우에는 2-way 전력 분배 회로로 동작한다. 제작된 가변 전송 선로는 700 MHz 이상의 주파수에서 전력 전송 선로로 동작하는 경우 -0.2 dB 이내의 전달 손실($S_{21}$)과 -15 dB 이하의 반사 계수($S_{11}$)를 보였으며, 전력 분배 선로로 동작하는 경우에는 -10 dB 이하의 반사 계수($S_{11}$), -3.8 dB이내의 전달 손실($S_{21}$ or $S_{31}$), ${\pm}0.3dB$이내의 출력 전력차($S_{21}/S_{31}$)를 보였다.