• The KIPS Transactions:PartD
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• v.17D no.1
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• pp.59-66
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• 2010

Traditional OCR engines are designed to the scanned documents in calibrated environment. Three dimensional perspective distortion and smooth distortion in images are critical problems caused by un-calibrated devices, e.g. image from smart phones. To meet the growing demand of character recognition of texts embedded in the photos acquired from the non-calibrated hand-held devices, we address the problem in three categorical aspects: rotational invariant method of text region extraction, scale invariant method of text line segmentation, and three dimensional perspective mapping. With the integration of the methods, we developed an OCR for camera-captured images.

• International Journal of Advanced Culture Technology
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• v.10 no.3
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• pp.164-173
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• 2022

This study aimed to explore the themes and parameters of environmental health behaviors based on Rogers' protection motivation theory through a systematic mapping review. Using a systematic approach, a literature review was conducted of articles that adopted Rogers' protection motivation theory. A total of 11 articles on protection motivation theory using participants and environmental health as outcomes were identified in a search of CINAHL, Cochrane Library, EMBASE, Eric, PsycARTICLES, PubMed, and RISS between September 1 and September 8, 2021. Themes related to the environment and personal behaviors between 2002 and 2021 were extracted. The parameters based on protection motivation theory were identified through systematic mapping as fear appraisal, rewards of maladaptive response, severity, vulnerability, costs of adaptive response, response efficacy, self-efficacy, and intention. Self-efficacy and response efficacy considerably affected environmental health behaviors. Emotional fear appeal related to environmental hazards motivates an internal process that alters the threat appraisal and their coping appraisal. Environmental behavior perception and intention influenced on environmental health behaviors with small effect sizes. Therefore, a deeper understanding of the severity of environmental health issues could lead to the development of helpful, effective, and intensive interventions to promote healthcare among the vulnerable population.

• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.25-31
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• 2022

Moving among multiple floors is one of the most challenging tasks for indoor autonomous robots. Most of the previous researches for indoor mapping and localization have focused on singular floor environment. In this paper, we present an algorithm that creates a multi-floor map using 3D point cloud. We implement localization within the multi-floor map using a LiDAR and an IMU. Our algorithm builds a multi-floor map by constructing a single-floor map using a LOAM-based algorithm, and stacking them through global registration that aligns the common sections in the map of each floor. The localization in the multi-floor map was performed by adding the height information to the NDT (Normal Distribution Transform)-based registration method. The mean error of the multi-floor map showed 0.29 m and 0.43 m errors in the x, and y-axis, respectively. In addition, the mean error of yaw was 1.00°, and the error rate of height was 0.063. The real-world test for localization was performed on the third floor. It showed the mean square error of 0.116 m, and the average differential time of 0.01 sec. This study will be able to help indoor autonomous robots to operate on multiple floors.

• Korea Trade Review
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• v.45 no.4
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• pp.45-63
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• 2020

This study aims to identify the dimensions of trade show performance in Iranian trade shows and apply the revised importance-performance analysis. The IPA method integrates two types of indirect importance and a composite I-P mapping using traditional four-quadrants, as well as a diagonal line on a two-dimensional grid. Based on the analysis results, this study presents several suggestions to contribute to the development of the trade show industry. First, it is noted that the dimensionality of trade show performance in a developing country context can be different from that of prior literature. Taking different industry development stages of a show hosting countries, examining the dimensions of each trade show performance with every effort to derive proper exhibitors' implications is necessary. Second, the use of statically-derived importance is recommended while considering respondents' convenience to reduce their time and fatigue when collecting data at the busy booths. Further, applying composite I-P mapping is suggested as an effective diagnostic tool to provide optimal trade show strategies for the exhibitors under the dynamic and ever-changing global business environment.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.2
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• pp.129-138
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• 2016

This paper presents a natural corners-based SLAM (Simultaneous Localization and Mapping) with a robust data association algorithm in a real unknown environment. Corners are extracted from raw laser sensor data, which are chosen as landmarks for correcting the pose of mobile robot and building the map. In the proposed data association method, the extracted corners in every step are separated into several groups with small numbers of corners. In each group, local best matching vector between new corners and stored ones is found by joint compatibility, while nearest feature for every new corner is checked by individual compatibility. All these groups with local best matching vector and nearest feature candidate of each new corner are combined by partial compatibility with linear matching time. Finally, SLAM experiment results in an indoor environment based on the extracted corners show good robustness and low computation complexity of the proposed algorithms in comparison with existing methods.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.265-275
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• 2015

This paper describes extraction methods of five different types of geometrical features (line, arc, corner, polynomial curve, NURBS curve) from the obtained raw data by using a two-dimensional laser range finder (LRF). Natural features with their covariance matrices play a key role in the realization of feature-based simultaneous localization and mapping (SLAM), which can be used to represent the environment and correct the pose of mobile robot. The covariance matrices of these geometrical features are derived in detail based on the raw sensor data and the uncertainty of LRF. Several comparison are made and discussed to highlight the advantages and drawbacks of each type of geometrical feature. Finally, the extracted features from raw sensor data obtained by using a LRF in an indoor environment are used to validate the proposed extraction methods.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.4
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• pp.442-448
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• 2011

There are many research results about a self-localization technique of mobile robot. In this paper we present a self-localization technique based on the features of ceiling vision using a fisheye lens. The features obtained by SIFT(Scale Invariant Feature Transform) can be used to be matched between the previous image and the current image and then its optimal function is derived. The fisheye lens causes some distortion on its images naturally. So it must be calibrated by some algorithm. We here propose some methods for calibration of distorted images and design of a geometric fitness model. The proposed method is applied to laboratory and aile environment. We show its feasibility at some indoor environment.

• Journal of Korean Society on Water Environment
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• v.24 no.1
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• pp.129-134
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• 2008

Ultrasonic cavitational energy distributions were measured in a large-scale sonoreator. In application of 110 and 170 kHz of ultrasound, the cavitational energy was just detected near the transducer module. However 35 and 72 kHz ultrasound made good distributions from the module to the end of the sonoreactor, Especially, 72 kHz ultrasound application showed most stable and highest cavitational energy value through the whole length. In the comparison between input power and cavitational energy, linear relationships were obtained in 35 and 72 kHz and it was anticipated that these results would be used for the optimization of input power for the design of sonoreactors. And three dimensional energy distribution was depicted through the mapping of cavitaional energy. Average energy in the large-scale sonoreactor was estimated as 62.8 W, which was about 40 % of input power.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.1-10
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• 2014

In recent years, the research of 3D mapping technique in urban environments obtained by mobile robots equipped with multiple sensors for recognizing the robot's surroundings is being studied actively. However, the map generated by simple integration of multiple sensors data only gives spatial information to robots. To get a semantic knowledge to help an autonomous mobile robot from the map, the robot has to convert low-level map representations to higher-level ones containing semantic knowledge of a scene. Given a 3D point cloud of an urban scene, this research proposes a method to recognize the objects effectively using 3D graph model for autonomous mobile robots. The proposed method is decomposed into three steps: sequential range data acquisition, normal vector estimation and incremental graph-based segmentation. This method guarantees the both real-time performance and accuracy of recognizing the objects in real urban environments. Also, it can provide plentiful data for classifying the objects. To evaluate a performance of proposed method, computation time and recognition rate of objects are analyzed. Experimental results show that the proposed method has efficiently in understanding the semantic knowledge of an urban environment.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.38 no.1
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• pp.7-18
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• 2001

In this paper, we present a new method to generate obstacle-free path by using conformal mapping, when avatar navigates in virtual environment. First, we show that the proposed method generates a path to keep away from a circular obstacle. Then, we show that the method can be extended to an elliptical obstacle and multiple obstacles. For real applications, we combine the proposed local method with a global navigation method using sub-target to generate a global obstacle-free path by which avatar navigates naturally in virtual environment.