• Journal of Navigation and Port Research
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• v.27 no.3
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• pp.259-266
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• 2003

Due to the growth of population and industrial development at the coastal cities, there has been much increase in necessity to effective control of the wastes into the coastal water and river. The amount of disposal at those waters has been increased rapidly ana it is necessary for us to track of it in order to keep the waterway safe and the water clean. The investigation and research in terms of water quality in these regions have been conducted frequently but the systematic survey of the disposed wastes at the bottom was neglected and/or minor. In this study we surveyed the status of disposed waste distribution at the bottom of coastal water and river from the scanned images. The intensity of sound received by the side scan sonar tow fish from the sea floor provides information as to the general distribution and characteristics of the superficial wastes. The port and starboard side scanned images produced from two arrays of transducers borne on a tow fish connected by tow cable to a tug boat have the area with width of 22m~112m and band of 44m~224m. All data are displayed in real-time on a high-resolution color display ($1280{\times}1024$ pixels) together with position information by DGPS. From the field measurement and analysis of the recorded images, we could draw the location and distribution of bottom disposals. Furthermore, we could make a database system which might be useful for navigation and fundamental for planning the waste reception and process control system.

• Journal of Advanced Navigation Technology
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• v.9 no.1
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• pp.48-55
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• 2005

In this paper, we propose an efficient moving object tracking technique for multi-camera surveillance system. Color CCD cameras used in this system are network cameras with their own IP addresses. Input image is transmitted to the media server through wireless connection among server, bridge, and Access Point (AP). The tracking system sends the received images through the network to the tracking module, and it tracks moving objects in real-time using color matching method. We compose two sets of cameras, and when the object is out of field of view (FOV), we accomplish hand-over to be able to continue tracking the object. When hand-over is performed, we use MHI(Motion History Information) based on color information and M-bin histogram for an exact tracking. By utilizing MHI, we can calculate direction and velocity of the object, and those information helps to predict next location of the object. Therefore, we obtain a better result in speed and stability than using template matching based on only M-bin histogram, and we verified this result by an experiment.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.1
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• pp.99-107
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• 2014

In this paper, a landmark based localization system using a Kinect sensor is proposed and evaluated with the implemented system for precise and autonomous navigation of low cost robots. The proposed localization method finds the positions of landmark on the image plane and the depth value using color and depth images. The coordinates transforms are defined using the depth value. Using coordinate transformation, the position in the image plane is transformed to the position in the body frame. The ranges between the landmarks and the Kinect sensor are the norm of the landmark positions in body frame. The Kinect sensor position is computed using the tri-lateral whose inputs are the ranges and the known landmark positions. In addition, a new matching method using the pin hole model is proposed to reduce the mismatch between depth and color images. Furthermore, a height error compensation method using the relationship between the body frame and real world coordinates is proposed to reduce the effect of wrong leveling. The error analysis are also given to find out the effect of focal length, principal point and depth value to the range. The experiments using 2D bar code with the implemented system show that the position with less than 3cm error is obtained in enclosed space($3,500mm{\times}3,000mm{\times}2,500mm$).

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.470-477
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• 2009

Modular reconfigurable robots with physical docking capability easily adapt to a new environment and many studies are necessary for the modular robots. In this paper, we propose a vision-based fuzzy autonomous docking controller for the modular docking robots. A modular docking robot platform which performs real-time image processing is designed and color-based object recognition method is implemented on the embedded system. The docking robot can navigate to a subgoal near a target robot while avoiding obstacles. Both a fuzzy obstacle avoidance controller and a fuzzy navigation controller for subgoal tracking are designed. We propose an autonomous docking controller using the fuzzy obstacle avoidance and navigation controllers, absolute distance information and direction informations of robots from PSD sensors and a compass sensor. We verify the proposed docking control method by docking experiments of the developed modular robots in the various environments with different distances and directions between robots.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2010.04a
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• pp.145-147
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• 2010

This study is the visually emotional identification lighting for easy to distinguish using 3colors LED on AtoN facility in shore and harbor, which have realized a controller for certainly express the mouth of a harbor by red light and green light of both sides a harbor and for synchronization at a time of right and left or serial sequential the harbor guidance light through synchronizer or timer by GPS. There is expectation effect that is prevent a confusion about distinguish of facility by ship's operator and to beautify a night scene of harbor, which is expressed to emotional identification lighting differ from great many lighting of harbor with variable color lighting the lighthouse body and vertical layer color lighting using LED. The function of AtoN is adapted that guidance light through synchronization or serial sequential lighting and display of harbor safety message by CW lighting, and this system is the power consumption greatly reduce by candle alternated high light LED.

• Journal of Advanced Navigation Technology
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• v.14 no.2
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• pp.191-197
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• 2010

Many does an application and application but the image analysis of face detection considerably is difficult. In order for with effect of the illumination which is irregular in the present paper America the illumination to range evenly in the face which is detected, detects a face territory, Complemented the result which detects only the front face of existing. With LAB color illumination revisions compared in Adaboost face detection of existing and 32% was visible the face detection result which improves. Bought two images which are input and executed Glassfire label rings. Compared Area critical price and became the area of above critical value and revised from RGB smooth anger and LAB images with LCFD system algorithm. The operational conversion image which is extracted like this executed a face territory detection in the object. In order to extract the feature which is necessary to a face detection used AdaBoost algorithms. The face territory remote login with the face territory which tilts in the present paper, until Multi-view face territory detections was possible. Also relationship without high detection rate seems in direction of illumination, With only the public PC application is possible was given proof user authentication field etc.

• Journal of the Society of Naval Architects of Korea
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• v.61 no.3
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• pp.143-151
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• 2024

In this study, we present a mapping framework for 3D spatial reconstruction of digital twin model using navigation and perception sensors mounted on an Autonomous Surface Vehicle (ASV). For improving the level of realism of digital twin models, 3D spatial information should be reconstructed as a digitalized spatial model and integrated with the components and system models of the ASV. In particular, for the 3D spatial reconstruction, color and 3D point cloud data which acquired from a camera and a LiDAR sensors corresponding to the navigation information at the specific time are required to map without minimizing the noise. To ensure clear and accurate reconstruction of the acquired data in the proposed mapping framework, a image preprocessing was designed to enhance the brightness of low-light images, and a preprocessing for 3D point cloud data was included to filter out unnecessary data. Subsequently, a point matching process between consecutive 3D point cloud data was conducted using the Generalized Iterative Closest Point (G-ICP) approach, and the color information was mapped with the matched 3D point cloud data. The feasibility of the proposed mapping framework was validated through a field data set acquired from field experiments in a inland water environment, and its results were described.

• Journal of Korean Port Research
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• v.14 no.3
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• pp.303-312
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• 2000

In this paper, we describe an image processing algorithm which is able to recognize the road lane. This algorithm performs to recognize the interrelation between AGV and the other vehicle. We experimented on AGV driving test with color CCD camera which is setup on the top of vehicle and acquires the digital signal. This paper is composed of two parts. One is image preprocessing part to measure the condition of the condition of the lane and vehicle. This finds the information of lines using RGB ratio cutting algorithm, the edge detection and Hough transform. The other obtains the situation of other vehicles using the image processing and viewport. At first, 2 dimension image information derived from vision sensor is interpreted to the 3 dimension information by the angle and position of the CCD camera. Through these processes, if vehicle knows the driving conditions which are lane angle, distance error and real position of other vehicles, we should calculate the reference steering angle.

• Journal of Korean Port Research
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• v.13 no.2
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• pp.303-312
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• 1999

The automated gate operating system is developed in this paper that controls the information of container at gate in the ACT. This system can be divided into three parts and consists of container identifier recognition car plate recognition container deformation perception. We linked each system and organized efficient gate operating system. To recognize container identifier the preprocess using LSPRD(Line Scan Proper Region Detection)is performed and the identifier is recognized by using neural network MBP When car plate is recognized only car image is extracted by using color information of car and hough transform. In the port of container deformation perception firstly background is removed by using moving window. Secondly edge is detected from the image removed characters on the surface of container deformation perception firstly background is removed by using moving window. Secondly edge is detected from the image removed characters on the surface of container. Thirdly edge is fitted into line segment so that container deformation is perceived. As a results of the experiment with this algorithm superior rate of identifier recognition is shown and the car plate recognition system and container deformation perception that are applied in real-time are developed.

• Korean Journal of Remote Sensing
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• v.37 no.5_2
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• pp.1235-1243
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• 2021

Geostationary Ocean Color Imager 2 (GOCI-II) on Geo-KOMPSAT-2 (GK2B)satellite was developed as a mission successor of GOCI on COMS which had been operated for around 10 years since launch in 2010 to observe and monitor ocean color around Korean peninsula. GOCI-II on GK2B was successfully launched in February of 2020 to continue for detection, monitoring, quantification, and prediction of short/long term changes of coastal ocean environment for marine science research and application purpose. GOCI-II had already finished IAC and IOT including early in-orbit calibration and had been handed over to NOSC (National Ocean Satellite Center) in KHOA (Korea Hydrographic and Oceanographic Agency). Radiometric calibration was periodically conducted using on-board solar calibration system in GOCI-II. The final calibrated gain and offset were applied and validated during IOT. And three video parameter sets for one day and 12 video parameter sets for a year was selected and transferred to NOSC for normal operation. Star measurement-based INR (Image Navigation and Registration) navigation filtering and landmark measurement-based image geometric correction were applied to meet the all INR requirements. The GOCI2 INR software was validated through INR IOT. In this paper, status and results of IOT, radiometric calibration and INR of GOCI-II are analysed and described.