• The Journal of the Korea institute of electronic communication sciences
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• v.6 no.1
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• pp.148-156
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• 2011

This paper presents an implementation of autonomous navigation of a mobile robot indoors. It explains methods for map building, localization, obstacle avoidance and path planning. Geometric map is used for localization and path planning. The localization method calculates sensor data based on the map for comparison with the real sensor data. Monte Carlo Localization(MCL) method is adopted for estimation of the robot position. For obstacle avoidance, an artificial potential field generates repulsive and attractive force to the robot. Dijkstra algorithm plans the shortest distance path from a start position to a goal point. The methods integrate into autonomous navigation method and implemented for indoor navigation. The experiments show that the proposed method works well for safe autonomous navigation.

• IEMEK Journal of Embedded Systems and Applications
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• v.11 no.5
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• pp.277-285
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• 2016

Moving object detection system has been an emerging research field in various advanced driver assistance systems (ADAS) and surveillance system. In this paper, we propose two optical flow based moving object detection methods at dynamic scenes. Both proposed methods consist of three successive steps; pre-processing, foreground segmentation, and post-processing steps. Two proposed methods have the same pre-processing and post-processing steps, but different foreground segmentation step. Pre-processing calculates mainly optical flow map of which each pixel has the amplitude of motion vector. Dense optical flows are estimated by using Farneback technique, and the amplitude of the motion normalized into the range from 0 to 255 is assigned to each pixel of optical flow map. In the foreground segmentation step, moving object and background are classified by using the optical flow map. Here, we proposed two algorithms. One is Gaussian mixture model (GMM) based background subtraction, which is applied on optical map. Another is adaptive thresholding based foreground segmentation, which classifies each pixel into object and background by updating threshold value column by column. Through the simulations, we show that both optical flow based methods can achieve good enough object detection performances in dynamic scenes.

• The Bulletin of The Korean Astronomical Society
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• v.43 no.1
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• pp.60.2-60.2
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• 2018

We present the near infrared JHK photometric properties and the spatial distribution of red supergiants(RSGs) of NGC 3623, NGC 3627 and NGC 3628 in the Leo Triplet system using the data obtained with 3.8m UKIRT(United Kingdom Infra-Red Telescope) at Hawaii. We checked interaction between the three galaxies by making a spatial density map of RSGs. From (J-K,K)0 Color-Magnitude Diagram which include resolved stars in three galaxy and control field with PARSEC isochrone, we figured out the RSG candidates of the Leo triplet are at 0.9<(J-K)0<1.2, mK<17.5 and separated them from background and foreground sources. Using gaussian kernel density estimation, we drew spatial density map of RSGs in the Leo triplet with an assumption that all RSGs are an identical population. The density map shows extended features of NGC 3628 to NGC 3627 along the declination direction. The asymmetries between NGC 3627 and NGC 3628 might be evidence for that the distribution of actual star components(RSGs) follows the neutral hydrogen distribution and also for interaction between two galaxies. And the extended features along the right ascension direction might be a supporting evidence for the existence of a TDG(Tidal Dwarf Galaxy). In case of NGC 3623, we could not see any sign of interaction in density map.

• Korean Journal of Remote Sensing
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• v.24 no.1
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• pp.79-89
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• 2008

Irregular temporal sampling is a common feature of geophysical and biological time series in remote sensing. This study proposes an on-line system for reconstructing observation image series contaminated by noises resulted from mechanical problems or sensing environmental condition. There is also a high likelihood that during the data acquisition periods the target site corresponding to any given pixel may be covered by fog or cloud, thereby resulting in bad or missing observation. The surface parameters associated with the land are usually dependent on the climate, and many physical processes that are displayed in the image sensed from the land then exhibit temporal variation with seasonal periodicity. A feedback system proposed in this study reconstructs a sequence of images remotely sensed from the land surface having the physical processes with seasonal periodicity. The harmonic model is used to track seasonal variation through time, and a Gibbs random field (GRF) is used to represent the spatial dependency of digital image processes. The experimental results of this simulation study show the potentiality of the proposed system to reconstruct the image series observed by imperfect sensing technology from the environment which are frequently influenced by bad weather. This study provides fundamental information on the elements of the proposed system for right usage in application.

• Journal of Korean Society of Forest Science
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• v.96 no.5
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• pp.591-601
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• 2007

Spatial information on forest biomass is an important factor to evaluate the capability of forest as a carbon sequestrator and is a core independent variable required to drive models which describe ecological processes such as carbon budget, hydrological budget, and energy flow. The objective of this study is to understand the relationship between satellite image and field data, and to quantitatively estimate and map the spatial distribution of forest biomass. Landsat Enhanced Thematic Mapper (ETM+) derived vegetation indices and field survey data were applied to estimate the biomass distribution of mountainous forest located in Gwangneung Experimental Forest (230 ha). Field survey data collected from the ground plots were used as the dependent variable, forest biomass, while satellite image reflectance data (Band 1~5 and Band 7), Normalized Difference Vegetation Index (NDVI), Soil-Adjusted Vegetation Index (SAVI), and RVI (Ratio Vegetation Index) were used as the independent variables. The mean and total biomass of Gwangneung catchment area were estimated to be about 229.5 ton/ha and $52.8{\times}10^3$ tons respectively. Regression analysis revealed significant relationships between the measured biomass and Landsat derived variables in both of deciduous forest ($R^2=0.76$, P < 0.05) and coniferous forest ($R^2=0.75$, P < 0.05). However, there still exist many uncertainties in the estimation of forest ecosystem parameters based on vegetation remote sensing. Developing remote sensing techniques with adequate filed survey data over a long period are expected to increase the estimation accuracy of spatial information of the forest ecosystem.

• Korean Journal of Remote Sensing
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• v.25 no.5
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• pp.455-464
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• 2009

Lee(2009) proposed the boundary-adaptive despeckling method using a Bayesian model which is based on the lognormal distribution for image intensity and a Markov random field(MRF) for image texture. This method employs the Point-Jacobian iteration to obtain a maximum a posteriori(MAP) estimate of despeckled imagery. The boundary-adaptive algorithm is designed to use less information from more distant neighbors as the pixel is closer to boundary. It can reduce the possibility to involve the pixel values of adjacent region with different characteristics. The boundary-adaptive scheme was comprehensively evaluated using simulation data and the effectiveness of boundary adaption was proved in Lee(2009). This study, as an extension of Lee(2009), has suggested a modified iteration algorithm of MAP estimation to enhance computational efficiency and to combine classification. The experiment of simulation data shows that the boundary-adaption results in yielding clear boundary as well as reducing error in classification. The boundary-adaptive scheme has also been applied to high resolution Terra-SAR data acquired from the west coast of Youngjong-do, and the results imply that it can improve analytical accuracy in SAR application.

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2003.06a
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• pp.62-65
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• 2003

We propose an algorithm for almost unsupervised detection of linear structures, in particular, axes in road network and river, as seen in synthetics aperture radar (SAR) images. The first is local step and used to extract linear features from the speckle radar image, which are treated as road segment candidates. We present two local line detectors as well as a method for fusing information from these detectors. The second is global step, we identify the real roads among the segment candidates by defining a Markov random field (MRF) on a set of segments, which introduces contextual knowledge about the shape of road objects.

• Proceedings of the KSRS Conference
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• v.1
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• pp.181-183
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• 2006

Digital topographic map in Korea contains layers of spatial and attribute data for 8 land features such as railroads, watercourses, roads, buildings and etc. Some of the layers such as building and forest don't include any information about height, which can be just prepared by interpretation of remote sensed data or field survey. LiDAR(Light Detection And Ranging) data using active pulse and digital camera provides data about height and form of land features. LiDAR data can be used not only to extract the outline of land features but also to estimate the height. This study presents technical availability for extraction and estimation of land feature's outline and height using LiDAR data which composes of natural and artificial land features, and digital aerial photograph which was taken simultaneously with the LiDAR. The estimated location, outline and height of land features were compared with the field survey data, and we could find that LiDAR data and digital aerial photograph can be a useful source for estimating the height of land features as well as extracting the outline.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.10
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• pp.5161-5178
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• 2019

Correlation Filter was recently demonstrated to have good characteristics in the field of video object tracking. The advantages of Correlation Filter based trackers are reflected in the high accuracy and robustness it provides while maintaining a high speed. However, there are still some necessary improvements that should be made. First, most trackers cannot handle multi-scale problems. To solve this problem, our algorithm combines position estimation with scale estimation. The difference from the traditional method in regard to the scale estimation is that, the proposed method can track the scale of the object more quickly and effective. Additionally, in the feature extraction module, the feature representation of traditional algorithms is relatively simple, and furthermore, the tracking performance is easily affected in complex scenarios. In this paper, we design a novel and powerful feature that can significantly improve the tracking performance. Finally, traditional trackers often suffer from model drift, which is caused by occlusion and other complex scenarios. We introduce a relocation component to detect object at other locations such as the secondary peak of the response map. It partly alleviates the model drift problem.

• Proceedings of the Korea Water Resources Association Conference
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• 2007.05a
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• pp.1997-2002
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• 2007

This study selected soil erosion source area of Dechung basin by soil erosion estimation model and field survey for effective soil conservation planning and management. First, unit soil erosion amount of Dechung basin is analyzed using RUSLE (Revised Universal Soil Loss Equation) model based on DEM (Digital Elevation Model), soil map, landcover map and rainfall data. Soil erosion model is difficult to analyze the tracing route of soil particle and to consider the characteristics of bank condition and the types of crop, multidirectional field survey is necessary to choice the soil erosion source area. As the result of analysis of modeling value and field survey, Mujunamde-, Wondang-, Geumpyong stream are selected in the soil erosion source area of Dechung basin. Especially, these areas show steep slope in river boundary and cultivation condition of crop is also weakness to soil erosion in the field survey.