• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.2
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• pp.181-188
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• 2012

The most recent, Digital photogrammetric camera, Airborne LiDAR and GPS/INS same sensors are used to acquire spatial information of various kinds in the field of aerial survey. In addition, Direct Georeferencing technology has been widely utilized with digital photogrammetric camera and GPS/INS. However, the sensor Calibration to be performed according to the combination of various sensors is followed by problems. Most of all, boresight calibration of integrated sensors is a critical element in the mapping process when using direct georeferencing or using the GPS/INS aerotriangulation. The establishment of a national test-bed in Sejong-si for aerial sensor calibration is absolutely necessary to solve this problem. And accurate calibration with used to integration of GPS/INS by aerotriangulation of aerial imagery was necessary for determination of system parameters, evaluation of systematic errors. Also, an investigation of efficient method for Direct georeferencing to determine the exterior orientation parameters and assessment of geometric accuracy of integrated sensors are performed.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.4_1
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• pp.293-298
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• 2014

Recently, the direct georeferencing has been becoming a common method in the aerial photogrammetry. As this direct georeferencing method using converged sensor of the digital photogrammetry camera and GPS(Global Positioning System)/INS(Inertial navaigation System), more rapid and accurate aerial photogrammetry has improved following advanced performance in photogrammetry. Since the accuracy of EO parameters from the direct georeferencing is determined by GPS/INS accuracy, it is significant to calculate the exact attitude information using values of INS rotations. For following calculations, the misalignment, such as INS rotation and the gap of GPS/INS, has to be decided. Because the number of ground control points are used for tirangulation and boresight calibration, those results should be different according to array and location of ground control points. In the study, those location and array of ground control points were tested to be used boresight calibration. As a result, there is no significant change of misalignment and exterior orienation parameters in the case when ground control points were at all course. On the contrarily, the difference has been shown in the case of no ground control point at course.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1173-1177
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• 1990

Cerebellar Model Linear Associator Net(CMLAN), a kind of neuro-net based adaptive control function generator, was applied to the problem of direct inverse calibration of three and six d.o.f. POMA 560 robot. Since CMLAN autonomously maps and generalizes a desired system function via learning on the sampled input/output pair nodes, CMLAN allows no knowledge in system modeling and other error sources. The CMLAN based direct inverse calibration avoids the complex procedure of identifying various system parameters such as geometric(kinematic) or nongeometric(dynamic) ones and generates the corresponding desired compensated joint commands directly to each joint for given target commands in the world coordinate. The generated net outputs automatically handles the effect of unknown system parameters and dynamic error sources. On-line sequential learning on the prespecified sampled nodes requires only the measurement of the corresponding tool tip locations for three d.o.f. manipulator but location and orientation for six d.o.f. manipulator. The proposed calibration procedure can be applied to any robot.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.183-190
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• 2022

Accurate kinematic parameters of mobile robots are essential because inaccurate kinematic model produces considerable uncertainties on its odometry and control. Especially, kinematic parameters of caster type mobile robots are important due to their complex kinematic model. Despite the importance of accurate kinematic parameters for caster type mobile robots, few research dealt with the calibration of the kinematic model. Previous study proposed a calibration method that can only calibrate double-wheeled caster type mobile robot and requires direct-measuring of robot center point and distance between casters. This paper proposes a calibration method based on geometric approach that can calibrate single-wheeled caster type mobile robot with two or more casters, does not require direct-measuring, and can successfully acquire all kinematic parameters required for control and odometry. Simulation and hardware experiments conducted in this paper validates the proposed calibration method and shows its performance.

• Proceedings of the Korea Water Resources Association Conference
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• 2011.05a
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• pp.19-19
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• 2011

The appraisals of hydrology model behavior for flow and water quality are generally performed through comparison of simulated data with observed ones. To perform appraisal of hydrology model, some criteria are often used, such as coefficient of determination ($R^2$), Nash and Sutcliffe model efficiency coefficient (NSE), index of agreement (d), modified forms of NSE and d, and relative efficiency criteria NSE and d. These criteria are used not only for hydrology model estimations also for various comparisons of two data sets; This NSE has been often used for SWAT calibration. However, it has been known that the NSE value has some limitations in evaluating hydrology at watersheds under monsoon climate because this statistic is largely affected by higher values in the data set. To overcome these limitations, the SWAT auto-calibration module was enhanced with K-means clustering and direct runoff/baseflow modules. However the NSE is still being used in this module to evaluate model performance. Therefore, the SWAT Auto-calibration module was modified to incorporate alternative efficiency criteria into the SWAT K-means/direct runoff-baseflow auto-calibration module. It is expected that this enhanced SWAT auto-calibration module will provide better calibration capability of SWAT model for all flow regime.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.34 no.3
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• pp.291-297
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• 2016

Direct georeferencing has become widespread in the field of digital aerial photogrammetry; as a result, the boresight calibration has become an essential component of the procedure to calculating exterior orientation parameters of aerial photographs accurately. During this procedure, a reference is used for the height of the geoid model, and the calibration results can appear different depending on the geoid model. The exterior orientation parameters calculated through direct georeferencing during boresight calibration may have varied values according to the corresponding geoid model. With that in mind, the effects of the geoid model on the boresight calibration were analyzed through three different cases. The geoid models used in the experiments were EGM96, EGM08, and KNGeoid14, and, through boresight calibration, the datum shift and boresight angle for each model was computed. After calculating the exterior orientation of each case, the GCP (Ground Control Point) was verified using the DPW (Digital Photogrammetry Workstation). In each case, results in the boresight calibration acquired through the geoid model demonstrated a difference in the Z datum, the exterior orientation heights Z, and the rotation Ω and Φ. After utilizing the DPW in each case and comparing it to the GCP, the difference in accuracy in accordance with the geoid model was found to be within 3cm, and it was concluded that the geoid model did not have a significant impact on boresight calibration.

• 한국신재생에너지학회:학술대회논문집
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• 2010.06a
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• pp.199.2-199.2
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• 2010

The main purpose of the calibration procedure is to perform a one to one comparison of the reference pyranometer and the test pyranometer. In order to achieve this, both pyranometers need to be exposed to exactly the same irradiance, under the same circumstances. There are a number of error sources that could result in a wrong measurement. Most importantly Lamp instability, pyranometer offsets, thermal offsets of junctions, voltmeter offset, voltmeter instability, reference pyranometer instability, tilting of the pyranometers and differences in sensor height. Another sun-disc calibration procedure compares the computed vertical component of the direct irradiance as measured by a pyranometer with that measured by the pyranometer to be calibrated. Readings are taken with the levelled pyranometer on a clear day. Firstly the global irradiance and then the diffuse component are measured. Simultaneously measurement of direct irradiance is made with the pyrheliometer. The ways of performing the calibration and the subsequent calculation have been chosen such that the effect all these error sources has been eliminated as much as possible.

• Korean Journal of Computational Design and Engineering
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• v.17 no.1
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• pp.35-44
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• 2012

Many automobile manufacturers are doing experiment on manufacturing environments by using an augmented reality technology. However, system layout and process simulation by using the virtual reality technology have been performed actively more than by using the augmented reality technology in practical use so far. Existing automobile assembly by using the augmented reality requires the precise calibrating work after setting the robot because the existing augmented reality system for the automobile assembly system configuration does not include the end tip deflection and the robot joints deflection due to the heavy weight of product and gripper. Because the robot is used mostly at the automobile assembly, the deflection problem of the robot joint and the product in the existing augmented reality system need to be improved. Moreover camera lens calibration has to be performed precisely to use augmented reality. In order to improve this problem, this paper introduces a method of the software based calibration to apply the augmented reality effectively to the automobile assembly system. On the other hand, the camera lens calibration module and the direct compensation module of the virtual object displacement for the augmented reality were designed and implemented. Furthermore, the developed automobile assembly system oriented AR-system was verified by the practical test.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.319-320
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• 2012

• Journal of Korean Society for Geospatial Information Science
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• v.16 no.2
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• pp.67-76
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• 2008

Recently, one of the most outstanding technological characteristics of aerial survey is an application of Direct Georeferencing, which is based on the integration of main sensing sensors such as aerial camera or Lidar with positioning sensors GPS and IMU. In addition, a variety of digital aerial mapping cameras is developed and supplied with the verification of their technical superiority and applicability. In accordance with this requirement, the development of a multi-looking aerial photographing system is just making 3-D information acquisition and texture mapping possible for the dead areas arising from building side and high terrain variation where the use of traditional phptogrammetry is not valid. However, the development of a multi-looking camera integrating different sensors and multi-camera array causes some problems to conduct time synchronization among sensors and their geometric and radiometric calibration. The establishment of a test field for aerial sensor calibration is absolutely necessary to solve this problem. Therefore, this paper describes investigations for photogrammetric Test Field of foreign countries and suggest an establishment scheme for domestic test field.