• Journal of the Korean Society for Precision Engineering
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• v.18 no.9
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• pp.61-70
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• 2001

This paper introduces a new digitization method with sensor fusion for shape measurement in reverse engineering. Digitization can be classified into contact and non-contact type according to the measurement devices. Important thing in digitization is speed and accuracy. The former is excellent in speed and the latter is good for accuracy. Sensor fusion in digitization intends to incorporate the merits of both types so that the system can be automatized. Firstly, non-contact sensor with vision system acquires coarse 3D point data rapidly. This process is needed to identify and loco]ice the object located at unknown position on the table. Secondly, accurate 3D point data can be automatically obtained using scanning probe based on the previously measured coarse 3D point data. In the research, a great number of measuring points of equi-distance were instructed along the line acquired by the vision system. Finally, the digitized 3D point data are approximated to the rational B-spline surface equation, and the free-formed surface information can be transferred to a commercial CAD/CAM system via IGES translation in order to machine the modeled geometric shape.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.23.3-23
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• 2001

The main object of this work is the development of an intelligent multi-sensor integration and fusion model that uses fuzzy inference system. Sensor data from different types of sensors are integrated and fused together based on the confidence which is not typically used in traditional data fusion methods. The information is fed as input to a fuzzy inference system(FIS). The output of the FIS is weights that are assigned to the different sensor data reflecting the confidence En the sensor´s behavior and performance. We interpret a type of fuzzy inference system as an interpolator of B-spline hypersurfaces. B-spline basis functions of different orders are regarded as a class of membership functions. This paper presents a model that ...

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.3
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• pp.123-129
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• 2014

SCC (Smart Cruise Control) and AEBS (Autonomous Emergency Braking System) are using various types of sensors data, so it is important to consider about sensor data reliability. In this paper, data from radar and vision sensor is fused by applying a Bayesian sensor fusion technique to improve the reliability of sensors data. Then, it presents a sensor fusion verification tool developed to monitor acquired sensors data and to verify sensor fusion results, efficiently. A parallel computing method was applied to reduce verification time and a series of simulation results of this method are discussed in detail.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.22-25
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• 2005

The 10 Year Implementation Plan for a Global Earth Observation System of Systems (GEOSS), which was endorsed at the Third Earth Observation Summit in Brussels in February, 2005, emphasizes the importance of data management facilities for diverse and large-volume Earth Observation data from inhomogeneous information sources. A three year research plan for addressing this key target of GEOSS has just approved as the first step by the Japanese government. The goals of this research are, (1) to develop a data management core system consisting of data integration and information fusion functions and interoperability and information service functions; (2) to establish data and information flows between data providers and users; (3) to promote application studies of data integration and information fusion, especially in the fields of weather forecasting, flood forecasting, agricultural management, and climate variability and changes. The research group involves leading scientists on information science and technology, who have been developing giant data archive servers, storage area networks, metadata models, ontology for the earth observations. They are closely cooperating with scientists on earth sciences, water resources management, and agriculture, and establishing an effective collaborative research framework.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.91.3-91
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• 2001

A sensor fusion scheme for mobile robot environment recognition that incorporates range data and contour data is proposed. Ultrasonic sensor provides coarse spatial description but guarantees open space with no obstacle within sonic cone with relatively high belief. Laser structured light system provides detailed contour description of environment but prone to light noise and is easily affected by surface reflectivity. Overall fusion process is composed of two stages: Noise elimination and belief updates. Dempster Shafer´s evidential reasoning is applied at each stage. Open space estimation from sonar range measurements brings elimination of noisy lines from laser sensor. Comparing actual sonar data to the simulated sonar data enables ...

• Journal of Advanced Marine Engineering and Technology
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• v.24 no.1
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• pp.119-126
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• 2000

In constructing the positioning system based on a conventional dead-reckoning for a wheeled vehicle with pneumatic tires, the position estimation error is inevitable as changes of the radius of the wheels depend on live load and variable enviroment. Therefore, this paper proposes the positioning system which can estimate the error source i.e. the vehicle parameter errors, such as the right and left wheel radius error, using gyroscope and ultrasonic sensor and correct the parameter to reduce the dead-reckoned position estimation error. The extended Kalman filter was used as a method for the multisensor data fusion. The simulation to verify the effectiveness of the proposed positioning system is performed.

• The Journal of Korea Robotics Society
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• v.13 no.4
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• pp.230-236
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• 2018

3D depth perception has played an important role in robotics, and many sensory methods have also proposed for it. As a photodetector for 3D sensing, single photon avalanche diode (SPAD) is suggested due to sensitivity and accuracy. We have researched for applying a SPAD chip in our fusion system of time-of-fight (ToF) sensor and stereo camera. Our goal is to upsample of SPAD resolution using RGB stereo camera. Currently, we have 64 x 32 resolution SPAD ToF Sensor, even though there are higher resolution depth sensors such as Kinect V2 and Cube-Eye. This may be a weak point of our system, however we exploit this gap using a transition of idea. A convolution neural network (CNN) is designed to upsample our low resolution depth map using the data of the higher resolution depth as label data. Then, the upsampled depth data using CNN and stereo camera depth data are fused using semi-global matching (SGM) algorithm. We proposed simplified fusion method created for the embedded system.

• Journal of Navigation and Port Research
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• v.27 no.3
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• pp.273-282
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• 2003

This paper proposes a sensor-fusion technique where rho data sets for the previous moments are properly transformed and fused into the current data sets to enable accurate measurement, such as, distance to an obstacle and location of the service robot itself. In the conventional fusion schemes, the measurement is dependent only on the current data sets. As the results, more of sensors are required to measure a certain physical promoter or to improve the accuracy of the measurement. However, in this approach, intend of adding more sensors to the system, the temporal sequence of the data sets are stored and utilized for the measurement improvement. Theoretical basis is illustrated by examples md the effectiveness is proved through the simulation. Finally, the new space and time sensor fusion (STSF) scheme is applied to the control of a mobile robot in the indoor environment and the performance was demonstrated by the real experiments.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39C no.11
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• pp.1146-1150
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• 2014

Recently, there has been interests in smart vessel technology, and it needs to consider an intelligent control system for efficient vessel manangement. In a smart vessel, however, it can cause a network overload due to a number of data transmission from a variety of sensor nodes and bridge nodes. In this letter, we propose an data transmission scheme with data fusion to reduce the number of traffic from the sensor nodes. Hence it can decrease network overload for intelligent vessel management.

• Korean Journal of Remote Sensing
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• v.25 no.6
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• pp.517-529
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• 2009

Many satellite image fusion techniques have been developed in order to produce a high resolution multispectral (MS) image by combining a high resolution panchromatic (PAN) image and a low resolution MS image. Heretofore, most high resolution image fusion techniques have used IKONOS and QuickBird images. Recently, GeoEye-1, offering the highest resolution of any commercial imaging system, was launched. In this study, we have experimented with GeoEye-1 images in order to evaluate which fusion algorithms are suitable for these images. This paper presents compares and evaluates the efficiency of five image fusion techniques, the $\grave{a}$ trous algorithm based additive wavelet transformation (AWT) fusion techniques, the Principal Component analysis (PCA) fusion technique, Gram-Schmidt (GS) spectral sharpening, Pansharp, and the Smoothing Filter based Intensity Modulation (SFIM) fusion technique, for the fusion of a GeoEye-1 image. The results of the experiment show that the AWT fusion techniques maintain more spatial detail of the PAN image and spectral information of the MS image than other image fusion techniques. Also, the Pansharp technique maintains information of the original PAN and MS images as well as the AWT fusion technique.