• Title/Summary/Keyword: Absolute orientation

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Smart monitoring analysis system for tunnels in heterogeneous rock mass

  • Kim, Chang-Yong;Hong, Sung-Wan;Bae, Gyu-Jin;Kim, Kwang-Yeom;Schubert, Wulf
    • 한국지구물리탐사학회:학술대회논문집
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    • 2003.11a
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    • pp.255-261
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    • 2003
  • Tunnelling in poor and heterogeneous ground is a difficult task. Even with a good geological investigation, uncertainties with respect to the local rock mass structure will remain. Especially for such conditions, a reliable short-term prediction of the conditions ahead and outside the tunnel profile are of paramount importance for the choice of appropriate excavation and support methods. The information contained in the absolute displacement monitoring data allows a comprehensive evaluation of the displacements and the determination of the behaviour and influence of an anisotropic rock mass. Case histories and with numerical simulations show, that changes in the displacement vector orientation can indicate changing rock mass conditions ahead of the tunnel face (Schubert & Budil 1995, Steindorfer & Schubert 1997). Further research has been conducted to quantify the influence of weak zones on stresses and displacements (Grossauer 2001). Sellner (2000) developed software, which allows predicting displacements (GeoFit$\circledR$). The function parameters describe the time and advance dependent deformation of a tunnel. Routinely applying this method at each measuring section allows determining trends of those parameters. It shows, that the trends of parameter sets indicate changes in the stiffness of the rock mass outside the tunnel in a similar way, as the displacement vector orientation does. Three-dimensional Finite Element simulations of different weakness zone properties, thicknesses, and orientations relative to the tunnel axis were carried out and the function parameters evaluated from the results. The results are compared to monitoring results from alpine tunnels in heterogeneous rock. The good qualitative correlation between trends observed on site and numerical results gives hope that by a routine determination of the function parameters during excavation the prediction of rock mass conditions ahead of the tunnel face can be improved. Implementing the rules developed from experience and simulations into the monitoring data evaluation program allows to automatically issuing information on the expected rock mass quality ahead of the tunnel.

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A Study on Tracking a Moving Object using Photogrammetric Techniques - Focused on a Soccer Field Model - (사진측랑기법을 이용한 이동객체 추적에 관한 연구 - 축구장 모형을 중심으로 -)

  • Bae Sang-Keun;Kim Byung-Guk;Jung Jae-Seung
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.24 no.2
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    • pp.217-226
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    • 2006
  • Extraction and tracking objects are fundamental and important steps of the digital image processing and computer vision. Many algorithms about extracting and tracking objects have been developed. In this research, a method is suggested for tracking a moving object using a pair of CCD cameras and calculating the coordinate of the moving object. A 1/100 miniature of soccer field was made to apply the developed algorithms. After candidates were selected from the acquired images using the RGB value of a moving object (soccer ball), the object was extracted using its size (MBR size) among the candidates. And then, image coordinates of a moving object are obtained. The real-time position of a moving object is tracked in the boundary of the expected motion, which is determined by centering the moving object. The 3D position of a moving object can be obtained by conducting the relative orientation, absolute orientation, and space intersection of a pair of the CCD camera image.

Image Resampling for Epipolar Geometry in Digital Photogrammetry (數値寫眞測量에 있어서 epipolar 幾何狀態를 形成하기 위한 映像再配列)

  • Yeu, Bock-Mo;Youn, Kyung-Chul;Jeong, Soo
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.10 no.2
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    • pp.25-30
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    • 1992
  • Most algorithms in computer vision and digital photogrammetry assume that digital stereo pairs are registered in epipolar geometry. But, an aerial stereo pair is not likely to be in epiplar geometry since the attitude of the camera at the instant of exposure is different at every exposure station. In this paper, stereo digital imagery is obtained from aerial stereo pair by scanner. Then procesure to resample the digital imagery to epipolar geometry using exterior orientation elements after absolute orientation is described. As a result, a stereo imagery in epipolar geometry is produced from stereo digital imagery. Epipolar imagery in this paper is applied to the image matching method by digital image correlation technique. Then, a digital elevation model is produced from the result of image matching. The digital elevation model in this paper is compared to the other digital elevation model produced by analytical plotter. As a result, an economical method to generate digital elevation model is presented.

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Software development for the visualization of brain fiber tract by using 24-bit color coding in diffusion tensor image

  • Oh, Jung-Su;Song, In-Chan;Ik hwan Cho;Kim, Jong-Hyo;Chang, Kee-Hyun;Park, Kwang-Suk
    • Proceedings of the KSMRM Conference
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    • 2002.11a
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    • pp.133-133
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    • 2002
  • Purpose: The purpose of paper is to implement software to visualize brain fiber tract using a 24-bit color coding scheme and to test its feasibility. Materials and Methods: MR imaging was performed on GE 1.5 T Signa scanner. For diffusion tensor image, we used a single shot spin-echo EPI sequence with 7 non-colinear pulsed-field gradient directions: (x, y, z):(1,1,0),(-1,1,0),(1,0,1),(-1,0,1),(0,1,1),(0,1,-1) and without diffusion gradient. B-factor was 500 sec/$\textrm{mm}^2$. Acquisition parameters are as follows: TUTE=10000ms/99ms, FOV=240mm, matrix=128${\times}$128, slice thickness/gap=6mm/0mm, total slice number=30. Subjects consisted of 10 normal young volunteers (age:21∼26 yrs, 5 men, 5 women). All DTI images were smoothed with Gaussian kernel with the FWHM of 2 pixels. Color coding schemes for visualization of directional information was as follows. HSV(Hue, Saturation, Value) color system is appropriate for assigning RGB(Red, Green, and Blue) value for every different directions because of its volumetric directional expression. Each of HSV are assigned due to (r,$\theta$,${\Phi}$) in spherical coordinate. HSV calculated by this way can be transformed into RGB color system by general HSV to RGB conversion formula. Symmetry schemes: It is natural to code the antipodal direction to be same color(antipodal symmetry). So even with no symmetry scheme, the antipodal symmetry must be included. With no symmetry scheme, we can assign every different colors for every different orientation.(H =${\Phi}$, S=2$\theta$/$\pi$, V=λw, where λw is anisotropy). But that may assign very discontinuous color even between adjacent yokels. On the other hand, Full symmetry or absolute value scheme includes symmetry for 180$^{\circ}$ rotation about xy-plane of color coordinate (rotational symmetry) and for both hemisphere (mirror symmetry). In absolute value scheme, each of RGB value can be expressed as follows. R=λw|Vx|, G=λw|Vy|, B=λw|Vz|, where (Vx, Vy, Vz) is eigenvector corresponding to the largest eigenvalue of diffusion tensor. With applying full symmetry or absolute value scheme, we can get more continuous color coding at the expense of coding same color for symmetric direction. For better visualization of fiber tract directions, Gamma and brightness correction had done. All of these implementations were done on the IDL 5.4 platform.

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A New Device and Procedure for Kinematic Calibration of Parallel Manipulators

  • Rauf, Abdul;Kim, Sung-Gaun;Ryu, Je-Ha
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.1615-1620
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    • 2003
  • Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise. Intrinsic inaccuracies of the device can significantly deteriorate the calibration results. A measurement procedure is proposed and formulations of cost functions are discussed to prevent propagation of the inaccuracies to the calibration results.

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GPS and Inertial Sensor-based Navigation Alignment Algorithm for Initial State Alignment of AUV in Real Sea (실해역 환경에서 무인 잠수정의 초기 상태 정렬을 위한 GPS와 관성 항법 센서 기반 항법 정렬 알고리즘)

  • Kim, Gyu-Hyeon;Lee, Jihong;Lee, Phil-Yeob;Kim, Ho Sung;Lee, Hansol
    • The Journal of Korea Robotics Society
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    • v.15 no.1
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    • pp.16-23
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    • 2020
  • This paper describes an alignment algorithm that estimates the initial heading angle of AUVs (Autonomous Underwater Vehicle) for starting navigation in a sea area. In the basic dead reckoning system, the initial orientation of the vehicle is very important. In particular, the initial heading value is an essential factor in determining the performance of the entire navigation system. However, the heading angle of AUVs cannot be measured accurately because the DCS (Digital Compass) corrupted by surrounding magnetic field in pointing true north direction of the absolute global coordinate system (not the same to magnetic north direction). Therefore, we constructed an experimental constraint and designed an algorithm based on extended Kalman filter using only inertial navigation sensors and a GPS (Global Positioning System) receiver basically. The value of sensor covariance was selected by comparing the navigation results with the reference data. The proposed filter estimates the initial heading angle of AUVs for navigation in a sea area and reflects sampling characteristics of each sensor. Finally, we verify the performance of the filter through experiments.

Calibration of Parallel Manipulators using a New Measurement Device (새로운 측정장비를 이용한 병렬구조 로봇의 보정에 관한)

  • Rauf, Abdul;Kim, Sung-Gaun;Ryu, Je-Ha
    • Proceedings of the KSME Conference
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    • 2003.11a
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    • pp.1494-1499
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    • 2003
  • Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can be used to identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise.

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Mathematical Modeling for the Physical Relationship between the Coordinate Systems of IMU/GPS and Camera (IMU/GPS와 카메라 좌표계간의 물리적 관계를 위한 수학적 모델링)

  • Chon, Jae-Choon;Shibasaki, R.
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.26 no.6
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    • pp.611-616
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    • 2008
  • When extracting geo-referenced 3D data from cameras mounted on Mobile Mapping Systems, one of important properties for accuracy of extracted data is the alignment of the relative translation(lever-arm) and rotation(bore-sight) between the coordinate systems of Inertial Measurement Unit(IMU)/Ground Positioning System(GPS) and cameras. Since the conventional method calculates absolute camera orientation using ground control points (GCP), the alignment is determined in one Coordinated System (GPS Coordinated System). It basically require GCP. We proposed a mathematical model for the alignment using the initially uncoupled data of cameras and IMU/GPS without GCPs.

Alignment of Inertial Navigation Sensor and Aircraft Fuselage Using an optical 3D Coordinate Measuring Device (광학식 3차원 좌표측정장치를 이용한 관성항법센서와 기체의 정렬기법)

  • Kim, Jeong-ho;Lee, Dae-woo
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.47 no.1
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    • pp.41-48
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    • 2019
  • This paper deals with a method of aligning an aircraft fuselage and an inertial navigation sensor using three-dimensional coordinates obtained by an optical method. In order to verify the feasibility, we introduce the method to accurately align the coordinate system of the inertial navigation sensor and the aircraft reference coordinate system. It is verified through simulation that reflects the error level of the measuring device. In addition, optimization method based alignment algorithm is proposed for connection between optical sensor and inertial navigation sensor.

The clustering of critical points in the evolving cosmic web

  • Shim, Junsup;Codis, Sandrine;Pichon, Christophe;Pogosyan, Dmitri;Cadiou, Corentin
    • The Bulletin of The Korean Astronomical Society
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    • v.46 no.1
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    • pp.47.2-47.2
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    • 2021
  • Focusing on both small separations and baryonic acoustic oscillation scales, the cosmic evolution of the clustering properties of peak, void, wall, and filament-type critical points is measured using two-point correlation functions in ΛCDM dark matter simulations as a function of their relative rarity. A qualitative comparison to the corresponding theory for Gaussian random fields allows us to understand the following observed features: (i) the appearance of an exclusion zone at small separation, whose size depends both on rarity and signature (i.e. the number of negative eigenvalues) of the critical points involved; (ii) the amplification of the baryonic acoustic oscillation bump with rarity and its reversal for cross-correlations involving negatively biased critical points; (iii) the orientation-dependent small-separation divergence of the cross-correlations of peaks and filaments (respectively voids and walls) that reflects the relative loci of such points in the filament's (respectively wall's) eigenframe. The (cross-) correlations involving the most non-linear critical points (peaks, voids) display significant variation with redshift, while those involving less non-linear critical points seem mostly insensitive to redshift evolution, which should prove advantageous to model. The ratios of distances to the maxima of the peak-to-wall and peak-to-void over that of the peak-to-filament cross-correlation are ~2-√~2 and ~3-√~3WJ, respectively, which could be interpreted as the cosmic crystal being on average close to a cubic lattice. The insensitivity to redshift evolution suggests that the absolute and relative clustering of critical points could become a topologically robust alternative to standard clustering techniques when analysing upcoming surveys such as Euclid or Large Synoptic Survey Telescope (LSST).

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