• 대한전기학회논문지:시스템및제어부문D
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• 제51권6호
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• pp.258-266
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• 2002

This paper proposes the methodology of the image processing algorithm that estimates the pose of the inner-pipe crawling robot. The inner-pipe crawling robot is usually equipped with a lighting device and a camera on its head for monitoring and inspection purpose of defects on the pipe wall and/or the maintenance operation. The proposed methodology is using these devices without introducing the extra sensors and is based on the fact that the position and the intensity of the reflected light from the inner wall of the pipe vary with the robot posture and the camera. The proposed algorithm is divided into two parts, estimating the translation and rotation angle of the camera, followed by the actual pose estimation of the robot . Based on the fact that the vanishing point of the reflected light moves into the opposite direction from the camera rotation, the camera rotation angle can be estimated. And, based on the fact that the most bright parts of the reflected light moves into the same direction with the camera translation, the camera position most bright parts of the reflected light moves into the same direction with the camera translation, the camera position can be obtained. To investigate the performance of the algorithm, the algorithm is applied to a sewage maintenance robot.

• Journal of the Optical Society of Korea
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• 제20권3호
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• pp.381-388
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• 2016

The performance of a staring infrared imaging system can be characterized based on estimating the modulation transfer function (MTF). The slant edge method is a widely used MTF estimation method, which can effectively solve the aliasing problem caused by the discrete undersampling of the infrared focal plane array. However, the traditional slant edge method has some limitations such as the low precision of the edge angle extraction and using the approximate function to fit the edge spread function (ESF), which affects the accuracy of the MTF estimation. In this paper, we propose a modified slant edge method, including an edge angle extraction method that can improve the precision of the edge angle extraction and an ESF fitting algorithm which is based on the transfer function model of the imaging system, to enhance the accuracy of the MTF estimation. This modified slant edge method presents higher estimation accuracy and better immunity to noise and edge angle than other traditional methods, which is demonstrated by the simulation and application experiments operated in our study.

• 한국통신학회논문지
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• 제33권11C호
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• pp.949-954
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• 2008

타원형 산란 무선 채널 환경에서 고속 단거리 옥내 무선 통신용 초광대역 수신기의 입력에 클러스터 형태로 도착하는 신호의 도착 방향을 추정하기 위해 새로 초광대역 신호 모형을 제안한다. 추정 기법은 일반적인 다중신호분류 기법을 변경한 알고리즘이며, 제안된 추정 기법을 초광대역 신호 모형에 적용하여 두 종류의 매개변수인 신호 도착방향 변수와 퍼짐 변수를 얻는다. 제안한 신호 모형과 추정 기법은 초광대역 타원형 산란 무선 통신 환경 안에서 컴퓨터 모의실험을 통해 검증된다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 G
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• pp.2821-2823
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• 1999

In this paper we proposed an algorithm for rotation-invariant pattern recognition and rotated angle estimation between two patterns by employing selective template matching. Generally template matching has been used in determining the location of pattern but template matching requires a number of calculating correlation. To reduce the number of correlation we used steady-state genetic algorithm which is effective in optimization problem. We apply this method to distinguish specific pattern from similar coin patterns and estimate rotated angle between patterns. Our result leads us to the conclusion that proposed method performed faster than classical template matching

• Current Optics and Photonics
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• 제8권3호
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• pp.300-306
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• 2024

To solve the nozzle swing angle non-contact measurement problem, we present a nozzle pose estimation algorithm involving weighted measurement uncertainty based on rotation parameters. Firstly, the instantaneous axis of the rocket nozzle is constructed and used to model the pivot point and the nozzle coordinate system. Then, the rotation matrix and translation vector are parameterized by Cayley-Gibbs-Rodriguez parameters, and the novel object space collinearity error equation involving weighted measurement uncertainty of feature points is constructed. The nozzle pose is obtained at this step by the Gröbner basis method. Finally, the swing angle is calculated based on the conversion relationship between the nozzle static coordinate system and the nozzle dynamic coordinate system. Experimental results prove the high accuracy and robustness of the proposed method. In the space of 1.5 m × 1.5 m × 1.5 m, the maximum angle error of nozzle swing is 0.103°.

• 전기학회논문지
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• 제58권3호
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• pp.605-613
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• 2009

In this paper, we studied for the real-time azimuthal measurement of HMD (Head Mounted Display) to control the tele-operated vision system on the mobile robot. In the preexistence tele-operated vision system, a joystick was used to control the pan-tilt unit of the remote camera system. To give the sense of presence to the tele-operator, we used a HMD to display the remote scene, measured the rotation angle of the HMD on a real time basis, and transmitted the measured rotation angles to the mobile robot controller to synchronize the pan-tilt angles of remote camera with the HMD. In this paper, we suggest an algorithm for the real-time estimation of the HMD rotation angles using feature points extraction from pc-camera image. The simple experiment is conducted to demonstrate the feasibility.

• 제어로봇시스템학회논문지
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• 제16권11호
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• pp.1053-1059
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• 2010

This paper treats the DIS (Digital Image Stabilization) problem subject to base motions such as translation, rotation and zoom. For the local motion estimation from a raw image, the Harris corner detection algorithm is exploited to extract feature points, and comparing those of consecutive images, the zoom ratio (scale factor) is computed. For the global motion estimation, an equivalent model is derived to account for a 3-dimensional composite motion from which the center point and Euler angle can be determined. Finally, the motion compensation follows. To show the effectiveness of the present DIS scheme, experimental results for synthetic images are illustrated.

• 한국음향학회지
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• 제38권5호
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• pp.534-542
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• 2019

능동소나에서는 표적의 거리 도플러 정보를 탐지하기 위해 여러 가지 기법을 사용한다. 그중 압축 센싱을 적용한 기법은 기존의 방식보다 더욱 정밀한 탐지가 가능하며 우수한 성능을 나타낸다. 능동 소나의 거리 도플러 추정에 적용할 수 있는 압축 센싱 알고리즘은 여러 가지 있다. 압축 센싱 알고리즘 마다 계산 성능이 다르며 압축 센싱 알고리즘에 따라 신호 대 잡음비와 센싱 행렬의 코히런스가 거리 도플러 추정에 미치는 영향의 정도가 다르다. 본 논문은 능동 소나의 거리 도플러 추정을 위한 여러 가지 압축 센싱 알고리즘의 계산 성능과 정확도를 비교, 분석하였다. 여러 신호대 잡음비, 상호간섭성 값에 대한 OMP(Orthogonal Matching Pursuit), CoSaMP(Compressive Sampling Matching Pursuit), BPDN(CVX)(Basis Pursuit Denoising), LARS(Least Angle Regression) 알고리즘의 추정 성능을 확인하였으며, 상황에 따른 최적의 압축 센싱 알고리즘을 보인다.

• 한국산학기술학회논문지
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• 제9권2호
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• pp.395-400
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• 2008

본 논문은 GPS 신호를 수신할 때 재머신호의 제거를 위한 성능 개선을 목적으로 2차원 원형 배열 안테나를 이용한 도래각(DoA : Direction of Arrival) 추정 알고리즘의 성능 분석에 관한 것이다. 배열 안테나를 사용하여 DoA를 추정한 후 공간 필터링을 수행함으로서 원하지 않는 방향으로부터의 재머신호를 널링(nulling)시키고, 원하는 방향으로의 빔을 형성하므로서 수신 신호의 품질을 개선할 수 있다. 논문에서는 4 소자와 7 소자 원형 배열 안테나에서 재머신호의 각도와 전력을 고정시킨 후 DoA 추정을 위하여 MUSIC, MinNorm 알고리즘을 적용한다. 이들 알고리즘의 성능 분석을 위하여 추정 결과와 추정 오차를 컴퓨터 시뮬레이션을 통하여 계산한다. 추정 결과 신호대 잡음비가 양호한 경우 Azimuth각과 Elevation각 추정에서는 MUSIC과 MinNorm이 우월하며, 신호대 잡음비가 낮은 경우 MUSIC이 MinNorm보다 우월한 성능을 보인다.

• 제어로봇시스템학회논문지
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• 제22권6호
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• pp.470-476
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• 2016

This paper proposes a practical algorithm for the reduction of measurement errors due to drift in a micro-electromechanical system (MEMS) gyros that are used for a mobile robot. Any drift in a MEMS gyro will cause an unbounded growth of errors in the estimation of heading, which makes it nearly useless in applications that require high accuracy over a long operating time. In proposed method, maneuvers of a cleaning robot are observed through encoders' measurement process and a decision to correct bias drift will be made if necessary. The method used in this paper is called the "heading estimation filter". To evaluate the accuracy of the proposed method, a comparison was made between the estimation of the heading of the cleaning robot and one from a motion capture system.