• Journal of Korea Multimedia Society
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• v.20 no.12
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• pp.1865-1873
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• 2017

The feature-based visual SLAM requires 3D positions for the extracted feature points to perform 3D-2D motion estimation. LiDAR can provide reliable and accurate 3D position information with low computational burden, while stereo camera has the problem of the impossibility of stereo matching in simple texture image region, the inaccuracy in depth value due to error contained in intrinsic and extrinsic camera parameter, and the limited number of depth value restricted by permissible stereo disparity. However, the sparsity of LiDAR data may increase the inaccuracy of motion estimation and can even lead to the result of motion estimation failure. Therefore, in this paper, we propose three interpolation methods which can be applied to interpolate sparse LiDAR data. Simulation results obtained by applying these three methods to a visual odometry algorithm demonstrates that the selective bilinear interpolation shows better performance in the view point of computation speed and accuracy.

• Transactions of the Korean Society of Automotive Engineers
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• v.18 no.4
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• pp.92-98
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• 2010

Virtual ground modeling is one of key topic for real-time vehicle dynamic simulation. This paper discusses about the virtual 3D road modeling process using parametric surface concept. General road data is a type of lumped position vector so interpolation process is required to compute contact of internal surface. The parametric surface has continuity and linearity within boundaries and functions are very simple to find out contact point. In this paper, the parametric surface formula is adopted to road modeling to calculate road hight. Position indexing method is proposed to reduce memory size and resource possession, and a simple mathematical method for contact patch searching is also proposed. The developed road process program is tested in dynamic driving simulation on off-road. Conclusively, the new virtual road program shows high performance of road hight computation in vast field of off-road simulation.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.3
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• pp.1014-1020
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• 2012

This paper focuses on the development of a supporting S/W tool that can minimize designer's manual operations and errors in metal mold design based on a 3D solid model. The scope in this work includes the offset surface modeling, the computation of the padding force, the generation of material table, the decision of hole position, the estimation of the size of raw material, which are the essential parts of press die and mold design in automotive industry. The proposed system has been developed as a plug-in type using Pro/E API and Visual C++ in order to put the system into the menu functions of Pro/E which is one major 3D CAD systems in the manufacturing industry.

• Journal of the Korea Computer Graphics Society
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• v.18 no.2
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• pp.55-62
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• 2012

This paper presents a new method to represent the secondary deformation effect using simple mass-spring simulation on the vertex shader of the GPU. For each skin vertex of a 3D character, a zero-length spring is connected to a virtual vertex that is to be rendered. When a skin vertex changes its position and velocity according to the character motion, the position of the corresponding virtual vertex is computed by mass-spring simulation in parallel on the GPU. The proposed method represents the secondary deformation effect very fast that shows the material property of a character skin during the animation. Applying the proposed technique dynamically can represent squash-and-stretch and follow-through effects which have been frequently shown in the traditional 2D animation, within a very small amount of additional computation. The proposed method is applicable to represent elastic skin deformation of a virtual character in an interactive animation environment such as games.

• Korean Journal of Computational Design and Engineering
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• v.2 no.3
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• pp.195-210
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• 1997

In Rapid Prototyping process, the time required to build multiple prototype parts can be reduced by packing several parts optimally in a work volume. Interactive arrangement of the multiple parts is a tedious process and does not guarantee the optimal placement of all the parts. In this case, packing is a kind of 3-D nesting problem because parts are represented by STL files with 3-D information. 3-D nesting is well known to be a problem requiring an intense computation and an efficient algorithm to solve the problem is still under investigation. This paper proposes that packing 3-D parts can be simplified into a 2-D irregular polygon nesting problem by using the characteristic of rapid prototyping process that the process uses 2-dimensional slicing data of the parts and that slice of the STL parts are composed of polygons. Our algorithm uses no-fit-polygon (NFP) to place each slice without overlapping other slices in the same z-level. The allowable position of one part at a fixed orientation for given parts already packed can be determined by obtaining the union of all NFP's that are obtained from each slice of the part. Genetic algorithm is used to determine the order of parts to be placed and orientations of each part for the optimal packing. Optimal orientation of a part is determined while rotating it about the axis normal to the slice by finite angles and flipping upside down. This algorithm can be applied to any rapid prototyping process that does not need support structures.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.11
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• pp.881-888
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• 2020

In this paper, research on estimation of states of a target of interest using Line Of Sight(LOS) angle measurement is performed. Target's position, velocity, and acceleration are chosen to be the states of interests. The LOS measurement is known to be highly non-linear, making target dynamic modeling hard to be implemented into a filter. To solve this issue, the Pseudomeasurement equation was applied to the LOS measurement equation. With the help of this equation, 3D variable turn target dynamic model is applied to the filter model. For better performance, Kinematic Constraint is also implemented into the filter model. As for the filter, Bias Compensation Pseudomeasurement Filter (BCPMF) is used which is known for its robustness to initial conditions. Moreover, Two-Stage Kalman Filter (TSKF) form was also implemented to benefit from the parallel computation. As a result, TBCPMF 3DVT-KC is proposed and simulated to assess performance.

• Journal of the Korean Society of Propulsion Engineers
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• v.26 no.3
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• pp.43-53
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• 2022

In this study, analysis of the flow characteristics of pintle-controlled nozzle with split-line TVC system and the thrust performance prediction was performed. The numerical computation was verified by comparing the thrust coefficient derived from the analysis results with the experimental data. By applying the same numerical analysis technique, the flow characteristics of nozzle were confirmed according to operating altitude, pintle stroke position and TVC angle with the 1/10 scale. As the TVC angle increased, thrust loss occurred and the tendency of AF was different depending on the position of the pintle stroke. Based on the analysis results, the relation of thrust coefficient was derived by applying the response surface methods. The thrust performance model with a slight difference of 1.2% on average from the analysis result was generated.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.48 no.6
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• pp.88-95
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• 2011

An embedded mobile device mostly has lower computation power than a general purpose computer because of its relatively lower system specifications. Consequently, conventional face tracking and face detection methods, requiring complex algorithms for higher recognition rates, are unsuitable in a mobile environment aiming for real time detection. On the other hand, by applying a real-time tracking and detecting algorithm, we would be able to provide a two-way interactive multimedia service between an user and a mobile device thus providing a far better quality of service in comparison to a one-way service. Therefore it is necessary to develop a real-time face and eye tracking technique optimized to a mobile environment. For this reason, in this paper, we proposes a method of tracking horizontal face position of a user on a T-DMB device for enhancing the quality of 3D DMB content. The proposed method uses the orientation of edges to estimate the left and right boundary of the face, and by the color edge information, the horizontal position and size of face is determined finally to decide the horizontal face. The sobel gradient vector is projected vertically and candidates of face boundaries are selected, and we proposed a smoothing method and a peak-detection method for the precise decision. Because general face detection algorithms use multi-scale feature vectors, the detection time is too long on a mobile environment. However the proposed algorithm which uses the single-scale detection method can detect the face more faster than conventional face detection methods.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.6
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• pp.1431-1438
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• 1995

In this paper, we present a multiple-view stereo matching method in case of moving in the direction of optical axis with stereo camera. Also we analyze the obtainable depth precision to show that multiple-view stereo increases the virtual baseline with single-view stereo. This method decides candidate points for correspondence in each image pair and then search for the correct combinations of correspondences among them using the geometrical consistency they must satisfy. Adantages of this method are capability in increasing the accuracy in matching by using the multiple stereo images and less computation due to local processing. This method computes 3-D depth by averaging the depth obtained in each multiple-view stereo. We show that the resulting depth has more precision than depth obtainable by each independent stereo when the position of image feature is uncertain due to image noise. This paper first defines a multipleview stereo agorithm in case of moving in the direction of optical axis with stereo camera and analyze the obtainable precision of computed depth. Then we represent the effect of removing the incorrect matching candidate and precision enhancement with experimental result.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.1
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• pp.66-71
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• 2006

Recently, there are lots of concerning on ubiquitous environment of robots and URC (Ubiquitous Robotic Companion). In this paper, a practical ubiquitous interface system far controlling mobile robots in indoor environments was proposed. The interface system was designed as a manager-agent model including a PC manager, a mobile manager, and robot agents for being able to be accessed by any network. In the system, the PC manager has a 3D virtual environment and shows real images for a human-friendly interface, and share the computation load of the robot such as path planning and managing geographical information. It also contains Hybrid Format Manager(HFM) working for transforming the image, position, and control data and interchanging them between the robots and the managers. Mobile manager working in the minimized computing condition of handsets has a mobile interface environment displaying the real images and the position of the robot and being able to control the robots by pressing keys. Experimental results showed the proposed system was able to control robots rising wired and wireless LAN and mobile Internet.