• KIPS Transactions on Software and Data Engineering
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• v.8 no.2
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• pp.89-96
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• 2019

360 degree 3-dimensional lidar sensors and vision cameras are commonly used in the development of autonomous driving techniques for automobile, drone, etc. By the way, existing calibration techniques for obtaining th e external transformation of the lidar and the camera sensors have disadvantages in that special calibration objects are used or the object size is too large. In this paper, we introduce a simple calibration method between two sensors using a spherical object. We calculated the sphere center coordinates using four 3-D points selected by RANSAC of the range data of the sphere. The 2-dimensional coordinates of the object center in the camera image are also detected to calibrate the two sensors. Even when the range data is acquired from various angles, the image of the spherical object always maintains a circular shape. The proposed method results in about 2 pixel reprojection error, and the performance of the proposed technique is analyzed by comparing with the existing methods.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.40 no.4
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• pp.315-324
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• 2022

The conventional LESS (LEast-Squares Solution) is calculated under the assumption that there is no errors in independent variables. However, the coordinates of a point, either from traditional ground surveying such as slant distances, horizontal and/or vertical angles, or GNSS (Global Navigation Satellite System) positioning, cannot be determined independently (and the components are correlated each other). Therefore, the TLS (Total Least Squares) adjustment should be applied for all applications related to the coordinates. Many approaches were suggested in order to solve this problem, resulting in equivalent solutions except some restrictions. In this study, we calculated the normal vector of the 3D plane determined by the trace of the VLBI targets based on TLS within GHM (Gauss-Helmert Model). Another numerical test was conducted for the estimation of the Helmert transformation parameters. Since the errors in the horizontal components are very small compared to the radius of the circle, the final estimates are almost identical. However, the estimated variance components are significantly reduced as well as show a different characteristic depending on the target location. The Helmert transformation parameters are estimated more precisely compared to the conventional LESS case. Furthermore, the residuals can be predicted on both reference frames with much smaller magnitude (in absolute sense).

• Journal of Biosystems Engineering
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• v.41 no.3
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• pp.170-176
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• 2016

Purpose: This study aimed to improve the method for determining the position of the center of gravity for agricultural tractors. Methods: The proposed method uses trigonometric functions and coordinate transformation. Data were measured according to the ISO 789-6 test procedures for the center of gravity of agricultural tractors. The height calculated using the proposed method was compared with that determined from an AutoCAD drawing. To find the center of gravity of the tractor, the algorithm for finding the intersection of the two lines was used. Results: The vertical height from the ground to the center of gravity is 682.06 mm. The vertical coordinates obtained from the calculation and the drawing were the same. Conclusions: The developed method uses trigonometric and polar coordinate transformation. The method was compared and verified with the AutoCAD drawing results. The results indicate that users can apply this developed method instead of the plotting method which is an inconvenient and time-consuming. Further, users can program Microsoft Excel to easily determine the vertical coordinate. In addition, researchers will propose this method to the ISO as a standard method for determining the center of gravity in accordance with ISO 789-6.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.17 no.3
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• pp.205-211
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• 1999

In this study, we utilized 2D conformal transformation method to give coordinatesbased on GPS surveying data to NAHMIS (National Highway Management Information System) drawings which are lack of coordinates. To determine the best method which is comparable with GPS digital map, we compared a transformation result obtained by unique parameters applied to the whole region of about 20 km of the NAHMIS drawings and the similar result of the tile based transformations. As the result of map joining, the error was within 2 m for both cases. In this way, NAHMIS can be used for a systematic management of construction drawings. Moreover, NAHMIS can contribute the management of highway and the data exchange between other systems by a unification of coordinate system.

• Korean Journal of Geomatics
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• v.2 no.1
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• pp.83-89
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• 2002

The cadastral maps as many as about 750,000 map sheets to cover 34,751,000 parcels of land of Korea, are being digitalized. The problem of shrinkage-expansion of the paper cadastral maps has to be resolved for the new digital maps, where the nodes and vertices of the parcel boundaries are represented by coordinates. The photo coordinate refinement techniques, two dimensional projective transformation and local area transformation as in the reseau grid method, were introduced for this distortion correction. Using the fact that original maps drawn on the plane tables in field from 1910 to 1918 have grid lines and have been preserved well, a strategic flow to apply the refinement techniques to the digital maps with the original maps as controls was developed. To accommodate the presence or absence of the original maps and grid lines, and different scales and sizes of the maps, the strategy was implemented by a computer program package. Various distortions and corrections were simulated and errors were evaluated. The RMS errors in the corrected digital maps were allowable, thus, the method developed in this study was to be applicable for the digital cadastral maps.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.11 no.10
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• pp.1828-1834
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• 2007

This study proposes a new digital watermarking technique based on wavelet transformation on color image. First the $YC_bC_r$ coordinates obtain from RGB color space. then, the correlation of watermark is decreased by Arnold transformation. Next, watermark which has been enlarged by Linear Bit-expansion is inserted at a given intensity in Color images' low frequency sub-bands. When detecting the presence of watermark, F-norm function is applied. As a result of the various experiments on color images, the proposed watermarking technique has outstanding quality in regards to fidelity and robustness.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.5
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• pp.2454-2468
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• 2019

The existing direct position determinations(DPD) for coherently distributed(CD) sources are mostly applicable for uniform linear array(ULA), which result in a low degree of freedom(DOF), and it is difficult for them to realize the effective positioning in underdetermined condition. In this paper, a novel DPD algorithm for coherently distributed sources based on compressed sensing with a moving nested array is present. In this algorithm, the nested array is introduced to DPD firstly, and a positioning model of signal moving station based on nested array is constructed. Owing to the features of coherently distributed sources, the cost function of compressed sensing is established based on vectorization. For the sake of convenience, unconstrained transformation and convex transformation of cost functions are carried out. Finally, the position coordinates of the distribution source signals are obtained according to the theory of optimization. At the same time, the complexity is analyzed, and the simulation results show that, in comparison with two-step positioning algorithms and subspace-based algorithms, the proposed algorithm effectively solves the positioning problem in underdetermined condition with the same physical element number.

• Journal of the Korean Society of Radiology
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• v.13 no.5
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• pp.801-809
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• 2019

Existing Gamma Knife Radiosurgery(GKRS) for large lesions is often conducted in stages with volume or dose partitions. Often in case of volume division the target used to be divided into sub-volumes which are irradiated under the determined prescription dose in multi-sessions separated by a day or two, 3~6 months. For the entire course of treatment, treatment informations of the previous stages needs to be reflected to subsequent sessions on the newly mounted stereotactic frame through coordinate transformation between sessions. However, it is practically difficult to implement the previous dose distributions with existing Gamma Knife system except in the same stereotactic space. The treatment area is expanding because it is possible to perform the multistage treatment using the latest Gamma Knife Platform(GKP). The purpose of this study is to introduce the image-coregistration based on the stereotactic spaces and the strategy of multistage GKRS such as the determination of prescription dose at each stage using new GKP. Usually in image-coregistration either surgically-embedded fiducials or internal anatomical landmarks are used to determine the transformation relationship. Author compared the accuracy of coordinate transformation between multi-sessions using four or six anatomical landmarks as an example using internal anatomical landmarks. Transformation matrix between two stereotactic spaces was determined using PseudoInverse or Singular Value Decomposition to minimize the discrepancy between measured and calculated coordinates. To evaluate the transformation accuracy, the difference between measured and transformed coordinates, i.e., ${\Delta}r$, was calculated using 10 landmarks. Four or six points among 10 landmarks were used to determine the coordinate transformation, and the rest were used to evaluate the approaching method. Each of the values of ${\Delta}r$ in two approaching methods ranged from 0.6 mm to 2.4 mm, from 0.17 mm to 0.57 mm. In addition, a method of determining the prescription dose to give the same effect as the treatment of the total lesion once in case of lesion splitting was suggested. The strategy of multistage treatment in the same stereotactic space is to design the treatment for the whole lesion first, and the whole treatment design shots are divided into shots of each stage treatment to construct shots of each stage and determine the appropriate prescription dose at each stage. In conclusion, author confirmed the accuracy of prescribing dose determination as a multistage treatment strategy and found that using as many internal landmarks as possible than using small landmarks to determine coordinate transformation between multi-sessions yielded better results. In the future, the proposed multistage treatment strategy will be a great contributor to the frameless fractionated treatment of several Gamma Knife Centers.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.10a
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• pp.553-559
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• 2004

In todays security industry, personal identification is also based on biometric. Biometric identification is performed basing on the measurement and comparison of physiological and behavioral characteristics, Biometric for recognition includes voice dynamics, signature dynamics, hand geometry, fingerprint, iris, etc. Iris can serve as a kind of living passport or living password. Iris recognition system is the one of the most reliable biometrics recognition system. This is applied to client/server system such as the electronic commerce and electronic banking from stand-alone system or networks, ATMs, etc. A new algorithm using nonlinear function in recognition process is proposed in this paper. An algorithm is proposed to determine the localized iris from the iris image received from iris input camera in client. For the first step, the algorithm determines the center of pupil. For the second step, the algorithm determines the outer boundary of the iris and the pupillary boundary. The localized iris area is transform into polar coordinates. After performing three times Wavelet transformation, normalization was done using sigmoid function. The converting binary process performs normalized value of pixel from 0 to 255 to be binary value, and then the converting binary process is compare pairs of two adjacent pixels. The binary code of the iris is transmitted to the by server. the network. In the server, the comparing process compares the binary value of presented iris to the reference value in the University database. Process of recognition or rejection is dependent on the value of Hamming Distance. After matching the binary value of presented iris with the database stored in the server, the result is transmitted to the client.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.3
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• pp.303-310
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• 2009

We processed seven years data of 142 IGS(International GNSS Service) stations were processed, which have been selected with an optimal network algorithm, to realize terrestrial reference system. To verify the result, a comparison with the ITRF2005 was given both in positions and velocities with transformation parameters estimation. The transformation parameters are within 4.3 mm in length, while the RMS(root mean square) difference of positions and velocities are 6.7 mm and 1.3 mm/yr in horizontal and 13.3 mm and 2.4 mm/yr in vertical, respectively, which represent good coincidences with ITRF2005. This research would help developing our own geodetic reference frame and may be applied for the global earth observations such as the global tectonics. A further improved TRF would be expected by applying various data processing strategies and with extension of data in number and observation period.