• 한국멀티미디어학회논문지
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• 제19권9호
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• pp.1647-1658
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• 2016

RGB+D database has been widely used in object recognition, object tracking, robot control, to name a few. While rapid advance of active depth sensing technologies allows for the widespread of indoor RGB+D databases, there are only few outdoor RGB+D databases largely due to an inherent limitation of active depth cameras. In this paper, we propose a novel method used to build outdoor RGB+D databases. Instead of using active depth cameras such as Kinect or LIDAR, we acquire a pair of stereo image using high-resolution stereo camera and then obtain a depth map by applying stereo matching algorithm. To deal with estimation errors that inevitably exist in the depth map obtained from stereo matching methods, we develop an approach that estimates confidence of depth maps based on unsupervised learning. Unlike existing confidence estimation approaches, we explicitly consider a spatial correlation that may exist in the confidence map. Specifically, we focus on refining confidence feature with the assumption that the confidence feature and resultant confidence map are smoothly-varying in spatial domain and are highly correlated to each other. Experimental result shows that the proposed method outperforms existing confidence measure based approaches in various benchmark dataset.

• 제어로봇시스템학회논문지
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• 제19권9호
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• pp.791-796
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• 2013

This paper proposes a fuzzy logic gain scheduling method for depth controller of the AUV (Autonomous Underwater Vehicle). Gains of depth controller are calculated by using multi-loop root locus technique. Fuzzy logic based gain scheduling approach is used to modify multi-loop gains as control condition. It is illustrated by simulations that the proposed fuzzy logic gain scheduling method yields smaller rising time and overshoot compared to the fixed-gain controller. Finally, being implemented on real hardwares, all the proposed algorithms are validated with integrations of hardware and software altogether by HILS.

• International Journal of Ocean System Engineering
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• 제1권4호
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• pp.192-197
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• 2011

This paper describes the mathematical modeling, control algorithm, system design, hardware implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). The vehicle has one thruster for longitudinal propulsion, one rudder for heading angle control and two elevators for depth control. It is equipped with a pressure sensor for measuring water depth and Doppler Velocity Log for measuring position and angle. The vehicle is controlled by an on-board PC, which runs with the Windows XP operating system. The dynamic model of 6DOF is derived including the hydrodynamic forces and moments acting on the vehicle, while the hydrodynamic coefficients related to the forces and moments are obtained from experiments or estimated numerically. We also utilized the values obtained from PMM (Planar Motion Mechanism) tests found in the previous publications for numerical simulations. Various controllers such as PID, Sliding mode, Fuzzy and $H{\infty}$ are designed for depth and heading angle control in order to compare the performance of each controller based on simulation. In addition, experimental tests are carried out in a towing tank for depth keeping and heading angle tracking.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.541-541
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• 2000

This paper Presents the method of 3D reconstruction of the depth information from the endoscopic stereo scopic images. After camera modeling to find camera parameters, we peformed feature-point based stereo matching to find depth information. Acquired some depth information is finally 3D reconstructed using the NURBS(Non Uniform Rational B-Spline) algorithm. The final result image is helpful for the understanding of depth information visually.

• 대한조선학회논문집
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• 제46권4호
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• pp.382-390
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• 2009

The submerged body near the free surface is disturbed by the 1st and 2nd order wave forces, which results in unstable movements when no control is applied. In this paper, the vertical motions of the submerged body are analyzed, and the time-variant nonlinear system for the vertical motions of the submerged body is transformed to the time-invariant linear system in state space. Next, depth controller of the submerged body is designed by using LQR control, one of the modern optimal control technique. Numerical simulation shows that effective depth controls can be achieved by LQR control.

• Journal of information and communication convergence engineering
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• 제15권3호
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• pp.193-198
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• 2017

In this study, we propose a three-dimensional (3D) visualization technique of occluded objects using integral imaging with a plenoptic camera. In previous studies, depth map estimation from elemental images was used to remove occlusion. However, the resolution of these depth maps is low. Thus, the occlusion removal accuracy is not efficient. Therefore, we use a plenoptic camera to obtain a high-resolution depth map. Hence, individual depth map for each elemental image can also be generated. Finally, we can regenerate a more accurate depth map for 3D objects with these separate depth maps, allowing us to remove the occlusion layers more efficiently. We perform optical experiments to prove our proposed technique. Moreover, we use MSE and PSNR as a performance metric to evaluate the quality of the reconstructed image. In conclusion, we enhance the visual quality of the reconstructed image after removing the occlusion layers using the plenoptic camera.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제9권1호
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• pp.242-259
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• 2015

Three-dimensional video coding is one of the main challenges restricting the widespread applications of 3D video and free viewpoint video. In this paper, a novel fractal coding algorithm with motion-vector-field-based motion estimation for depth map sequence is proposed. We firstly add pre-search restriction to rule the improper domain blocks out of the matching search process so that the number of blocks involved in the search process can be restricted to a smaller size. Some improvements for motion estimation including initial search point prediction, threshold transition condition and early termination condition are made based on the feature of fractal coding. The motion-vector-field-based adaptive hexagon search algorithm on the basis of center-biased distribution characteristics of depth motion vector is proposed to accelerate the search. Experimental results show that the proposed algorithm can reach optimum levels of quality and save the coding time. The PSNR of synthesized view is increased by 0.56 dB with 36.97% bit rate decrease on average compared with H.264 Full Search. And the depth encoding time is saved by up to 66.47%. Moreover, the proposed fractal depth map sequence codec outperforms the recent alternative codecs by improving the H.264/AVC, especially in much bitrate saving and encoding time reduction.

• 제어로봇시스템학회논문지
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• 제19권9호
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• pp.760-767
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• 2013

In this paper, we developed a Manta-type AUV (Autonomous Underwater Vehicle) and analyzed its control performance as well as its dynamic characteristics underwater. The nonlinear motion of equations, which are expressed in terms of hydrodynamic coefficients obtained by various experiments, are used to simulate the motion of a Manta AUV underwater. We applied the sliding-mode theory to control the heading angle and depth of the vehicle, and confirmed the effectiveness of the control algorithm through simulations and sea-trials.

• 대한조선학회논문집
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• 제59권5호
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• pp.306-313
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• 2022

Most submarines use the cross-plane, which is convenient and inexpensive, but the number of submarines equipped with an X-plane is increasing recently. This study focuses on designing the control system of the X-plane submarine with various control methods and analyzing the effect of each controller. First, a maneuvering simulation environment for a subjected submarine is established. The dynamics and the operating range of control surfaces are considered. Second, a depth and heading control system of the submarine, which can be divided into three parts, is designed: guidance, controller, and control allocation. The guidance system generates a smooth desired depth and heading. The controller is designed using Proportional-Integral-Differential (PID), Linear Quadratic Regulator (LQR), and H-infinity (H∞) control methods. A linear control allocation method is used to distribute control moment calculated by the controller to the control surfaces. Finally, the designed control system is applied to a subjected X-plane submarine, and a depth and heading control simulations are performed. Each control method is compared and analyzed under various simulation conditions.

• 한국환경복원기술학회지
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• 제14권5호
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• pp.53-67
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• 2011

The major objective of this study was to quantify the effects of substrate depth and substrate composition on the development of sedum etc., in a sloped rooftop (6 : 12 pitch) environment during a 4-year period. The experiment was conducted from 2006 October to 2010 December under several conditions without soil erosion control : two substrate depth (5cm, 10cm), four substrate composition (A5N3C2, A3N3C4, A6C4, G5L3C2: A: artificial lightweight soil, N : natural soil, G : granite decomposed soil, C : leave composite, L : loess), four sloped roof direction ($E40^{\circ}W$, $W40^{\circ}N$, $S40^{\circ}W$, $N40^{\circ}E$). In this experiment 4 sedum etc., were used: Sedum sarmentosum, Sedum kamtschaticum, Sedum rupestre, Sedum telephium, flowering herbs (mixed seed : Taraxacum platycarpum, Lotus corniculatus, Aster yomena, Aster koraiensis), western grasses (mixed seed : Tall fescue, Creeping redfescue, Bermuda grass, Perennial ryegrass). The establishment factor had two levels : succulent shoot establishment (sedum), seeding (flowering herbs, western grasses). 1. Enkamat, as it bring about top soil exfoliation, was unsuitable material for soil erosion control. 2. Sedum species exhibited greater growth at a substrate depth of 10cm relative to 5cm. All flowering herbs and western grasses established only at a substrate depth of 5cm were died. A substrate depth of 5cm was not suited in sloped rooftop greening without maintenance. If additional soil erosion control will be supplemented, a substrate depth of 10cm in sloped rooftop greening without maintenance was considered suitable. 3. For all substrate depth and composition, the most abundant species was Sedum kamtschaticum. The percentage of surviving Sedum kamtschaticum was 73.4% at a substrate depth of 10cm in autumn 2007 one year after the roof vegetation had been established. But the percentage of surviving other sedum were 33.3%~51.9%, therefor mulching for soil erosion control was essential after rooftop establishment in extensive sloped roof greening was proved. To raise the ratio of plant survival, complete establishment of plant root at substrate was considered essential before rooftop establishment. 4. There was a significant interaction between biomass and substrate moisture content. There were also a significant difference of substrate moisture and erosion among substrate composition. The moisture content of A6C4 was highest, the resistance to erosion of A5N3C2 was highest among substrate composition. The biomass of plants were not significantly higher in A5N3C2 and A6C4 relative to A3N3C4 and G5L3C2, For substrate moisture and erosion resistance, A5N3C2 and A6C4 were considered suitable in sloped rooftop greening without maintenance. 5. There were significant difference among roof slope direction on the substrate moisture. Especially, the substrate moisture content of $S40^{\circ}W$ was lower relative to that of $N40^{\circ}E$, that guessed by solar radiation and erosion.