• ETRI Journal
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• v.44 no.1
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• pp.10-23
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• 2022

Despite the significant progress in camera pose estimation and structure-from-motion reconstruction from unstructured images, methods that exploit a priori information on camera arrangements have been overlooked. Conventional state-of-the-art methods do not exploit the geometric structure to recover accurate camera poses from a set of patch images in an array for mosaic-based imaging that creates a wide field-of-view image by sewing together a collection of regular images. We propose a camera pose estimation framework that exploits the array-structured image settings in each incremental reconstruction step. It consists of the two-way registration, the 3D point outlier elimination and the bundle adjustment with a constraint term for consistent rotation vectors to reduce reprojection errors during optimization. We demonstrate that by using individual images' connected structures at different camera pose estimation steps, we can estimate camera poses more accurately from all structured mosaic-based image sets, including omnidirectional scenes.

• Journal of the Korea institute for structural maintenance and inspection
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• v.10 no.5
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• pp.203-211
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• 2006

In this paper, the optimization of direct design system of steel frames by genetic algorithm involving advanced analysis are performed. For the analysis of steel frames advanced analysis accounting for geometric nonlinearity and material nonlinearity are executed. The genetic algorithm was used as optimization technique. The weight of structures is treated as the objective function. The constraint functions are defined by load-carrying capacities, deflections, inter-story drifts, and ductility requirement. The effectiveness of the proposed method are verified by comparing the results of the proposed method with those of other method.

• Journal of the Korea institute for structural maintenance and inspection
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• v.12 no.5
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• pp.143-151
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• 2008

In this paper, the optimum design of plane steel frames using second-order inelastic analysis and section increment method is presented. Since the second-order inelastic analysis accounts for geometric and material nonlinearities of the whole system as well as its component members, the design method based on second-order inelastic analysis does not require separate member capacity checks after analysis. A section increment method proposed by this paper is used as optimization technique. The weight of structures is treated as the objective function. The constraint functions are defined by load-carrying capacities, deflections, inter-story drifts, and ductility requirement. The effectiveness of the proposed method are verified by comparing the results of the proposed method with those of other method.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.25 no.6
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• pp.477-485
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• 2012

Geometric configurations such as hull shape, wall thickness, stiffener layout, and type of construction materials are the key factors influencing the structural performance of pressure hulls. Traditional theoretical approach provides quick and acceptable solutions for the design of pressure hulls within specific geometric configuration and material. In this paper, alternative approaches that can be used to obtain optimal geometric shape, wall thickness, construction material configuration and stiffener layout of a pressure hull are presented. CAE(Computer Aided Engineering) based design optimization tools are utilized in order to obtain the required structural responses and optimal design parameters. Optimal elliptical meridional profile is determined for a cylindrical pressure hull design using metamodel-based optimization technique implemented in a fully-integrated parametric modeler-CAE platform in ANSYS. While the optimal composite laminate layup and the design of ring stiffener for a thin-walled pressure hull are obtained using gradient-based optimization method in OptiStruct. It is noted that the proposed alternative approaches are potentially effective for pressure hull design.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.8 no.5
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• pp.1128-1134
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• 2007

Recently, sensor network technology is a highly concerned area due to the expectation of many applications in various fields. The application of sensor network technology to the marine and ocean surveillance and investigation makes the marine environmental research easier since intelligent sensor nodes substitute the human labor work. In ocean sensor network, the localization scheme for the sensor nodes is most essential because all the information without from sensor nodes might be useless unless the positional information of each sensor nodes is provided. In this paper, the localization scheme with mobile beacons in ocean sensor networks is suggested and showed it could be effective for applying to marine circumstances. Even though the previous localization scheme(Ssu's) has advantages that additional hardware is not required for obtaining the information of distance and angle and shows the high accuracy of location and energy efficiency and easy expandability as well, it has also demerits the location error increases as the minimum distance between the absolute positional information become closer. In our works, the improved localization scheme with the presumed area of sensor node using geometric constraints is suggested.

• Journal of KIISE:Databases
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• v.30 no.1
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• pp.64-79
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• 2003

In client-server computing environments, update transactions of spatial data have the following characteristics. First, a transaction to update maps needs interactive work, and therefore it nay take a long time to finish. Second, a long transaction should be allowed to read the dirty data to enhance parallelism of executing concurrent transactions. when %he transaction is rolled back, it should guarantee the cascading rollback of all of the dependent transactions. Finally, two spatial objects may have a weak dependency constraint, called the spatial relationship, based on geometric topology. The existing recovery approaches cannot be directly applied to this environment, due to the high rollback cost and the overhead of cascading rollbacks. Furthermore, the previous approaches cannot guarantee the data integrity because the spatial relationship, which is a new consistency constraint of spatial data, is not considered. This paper presents new recovery schemes for update transactions of spatial data. To guarantee the data integrity, this paper defines recovery dependency as a rendition of cascading rollbacks. The partial-rollback is alto suggested to solve the problem of high rollback cost. The recovery schemes proposed in this paper can remove the unnecessary cascading rollbacks by using undo-delta, partial -redo and partial-undo. Finally, the schemes are performed to ensure the correctness.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.438-444
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• 2004

The intelligent robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robots need to recognize their position and posture in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for a robot to estimate of his position by solving uncertainty for mobile robot navigation, as one of the best important problems. In this paper, we describe a method for the localization of a mobile robot using image information of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using the a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot's position. Since the equations are based or the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot. The Kalman filter scheme is applied for this method. its performance is verified by the computer simulation and the experiment.

• Journal of Korean Society of Steel Construction
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• v.17 no.1 s.74
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• pp.13-21
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• 2005

Advanced analysis and optimal design of steel arch bridges is presented. In the design method using an advanced analysis, separate member capacity checks after analysis are not required because the stability and strength of the structural system and its component members can be rigorously treated in the analysis. The geometric nonlinearity is considered by using the stability function. The Column Research Council tangent modulus is used to account for gradual yielding due to residual stresses. A parabolic function is used to represent the transition from elastic to zero stiffness associated with a developing hinge. An optimization technique used is a modified section increment method. The member with the largest unit value evaluated by AASHTO-LRFD interaction equation is replaced one by one with an adjacent larger member selected in the database. The objective function is taken as the weight of the steel arch bridge and the constraint functions account for load-carrying capacities and deflection requirements. Member sizes determined by the proposed method are compared with those given by other approaches.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.8
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• pp.1527-1533
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• 2002

When a mechanism transfers a motion to an intersected shaft, a cylindrical cam mechanism may be the best choice among the mechanisms. The cylindrical cam with a roller follower provides to transfer the motions to the intersect shafts simply without other connecting equipments of the intersect shafts. Typical example may be a roller-gear-cam mechanism. But the shape of the cam must be exactly defined in order to satisfy the conditions for the prescribed motion of the follower. This paper proposes a new method for the shape design of the cylindrical cams and also a CAD program is developed by using the proposed method. The relative velocity method calculates the relative velocity of the follower versus the cam at a center of roller, and then determines a contact point by using the geometric relationships and the kinematic constraints. The constraint used in the relative velocity method is that the relative velocity must be parallel to a common tangent line at the contact point of two independent bodies, i. e. the cam and the follower. Then, the shape of the cam is defined by the coordinate transformation of the trace of the contact points. Finally, this paper presents an example in order to prove the accuracy of the proposed methods in this paper and the application of the CAD program"CamDesign".

• KIPS Transactions on Software and Data Engineering
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• v.4 no.4
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• pp.177-186
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• 2015

For data fusion of laser range finder (LRF) and vision camera, accurate calibration of external parameters which describe relative pose between two sensors is necessary. This paper proposes a new calibration method which can acquires more accurate external parameters between a LRF and a vision camera compared to other existing methods. The main motivation of the proposed method is that any corner data of a known 3D structure which is acquired by the LRF should be projected on a straight line in the camera image. To satisfy such constraint, we propose a 3D geometric model and a numerical solution to minimize the energy function of the model. In addition, we describe the implementation steps of the data acquisition of LRF and camera images which are necessary in accurate calibration results. In the experiment results, it is shown that the performance of the proposed method are better in terms of accuracy compared to other conventional methods.