• Journal of Institute of Control, Robotics and Systems
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• v.22 no.1
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• pp.24-30
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• 2016

The accuracy of small and low-cost CCD cameras is insufficient to provide data for precisely tracking unmanned aerial vehicles (UAVs). This study shows how a quad rotor UAV can hover on a human targeted tracking object by using data from a CCD camera rather than imprecise GPS data. To realize this, quadcopter UAVs need to recognize their position and posture in known environments as well as unknown environments. Moreover, it is necessary for their localization to occur naturally. It is desirable for UAVs to estimate their position by solving uncertainty for quadcopter UAV hovering, as this is one of the most important problems. In this paper, we describe a method for determining the altitude of a quadcopter UAV using image information of a moving object like a walking human. This method combines the observed position from GPS sensors and the estimated position from images captured by a fixed camera to localize a UAV. Using the a priori known path of a quadcopter UAV in the world coordinates and a perspective camera model, we derive the geometric constraint equations that represent the relation between image frame coordinates for a moving object and the estimated quadcopter UAV's altitude. Since the equations are based on the geometric constraint equation, measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the quadcopter UAV. The Kalman filter scheme is applied for this method. Its performance is verified by a computer simulation and experiments.

• The KIPS Transactions:PartD
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• v.8D no.5
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• pp.516-572
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• 2001

Geographic Information System(CIS) deal with data which can potentially be useful for a wide range of applications. The information needed by each application can be vary, specially in resolution, detail level, application view, and representation style, as defined in the modeling phase of the geographic database design. To be able to deal with such diverse needs, GIS must offer features that allow multiple representation for each geographic entity of phenomenon. This paper addresses on the problem of formal definition of the objects and their relationships on the geographical information systems. The geographical data is divided into two main classes : geo-objects and geo-fields, which describe discrete and continuous representations of spatial reality. I studied the attributes and the relationship roles over geo-object and nongeo-object. Therefore, this paper contributed on the efficient design of geographical class hierarchy schema by means of formalizing attribute-domains of classes.

• Aerospace Engineering and Technology
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• v.10 no.2
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• pp.154-162
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• 2011

The KOrea Multi-Purpose Satellite-3 (KOMPSAT-3) provides 0.7 m Ground Sample Distance (GSD) panchromatic image and 2.8 m GSD multi-spectral image data for various applications. The KOMPSAT-3 system data will be applied in the field of earth observations, covering land, sea, coastal zones, and Geographic Information Systems (GIS). In order to keep the swath width of 15km at nadir view of KOMPSAT-3, CCD consist of approximately 24,020 pixels excluding 20 dark pixels at both sides and has overlap region. Because there are no CCD-line sensors with a pixel size of $7{\mu}m$, the field of view is separated into 2 parts and imaged on 2 detectors, each with 12,080 pixels. Therefore, 2 detectors have different geometric characteristic. This paper provides image simulation for geometric characteristics analysis of overlapping area of KOMPSAT-3 using KOMPSAT-2 image data.

• Korean Journal of Remote Sensing
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• v.19 no.6
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• pp.447-456
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• 2003

This study investigated the method for obtaining 3-dimensional terrain information on inaccessable areas by evaluating geometric accuracy of the EOC pass image and scene image acquired from the KOMPSAT-1 satellite. For this purpose, the following four experiments were conducted to evaluate the accuracy of the KOMPSAT-1 EOC satellite data. 1) Calculation of ground coordinates by using ancillary data and image coordinates on Level 1R that were processed by the pre-processing system of KOMPSAT-1. 2) Calculation of 3-dimensional ground coordinates from the ground coordinates of stereo images calculated by using ancillary data, based on space intersections. 3) Execution of bundle adjustment by using GCP (Ground Control Point) extracted in a part of the stereo pass image (KOMPSAT-1 EOC, 1 scene size); and then, evaluation of the ground coordinates from the calculated exterior orientation. 4) Evaluation of accuracy by applying the exterior orientation calculated from 3) To the whole pass image.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.36 no.6
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• pp.535-544
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• 2018

Autonomous driving can be limited by only using sensors if the sensor is blocked by sudden changes in surrounding environments or large features such as heavy vehicles. In order to overcome the limitations, the precise road-map has been used additionally. This study was conducted to segment and classify road objects using 3D point cloud data acquired by terrestrial mobile mapping system provided by National Geographic Information Institute. For this study, the original 3D point cloud data were pre-processed and a filtering technique was selected to separate the ground and non-ground points. In addition, the road objects corresponding to the lanes, the street lights, the safety fences were initially segmented, and then the objects were classified using the support vector machine which is a kind of machine learning. For the training data for supervised classification, only the geometric elements and the height information using the eigenvalues extracted from the road objects were used. The overall accuracy of the classification results was 87% and the kappa coefficient was 0.795. It is expected that classification accuracy will be increased if various classification items are added not only geometric elements for classifying road objects in the future.

• Journal of Korean Association for Spatial Structures
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• v.16 no.3
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• pp.47-58
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• 2016

Cable network system is a flexible lightweight structure which curved cables can transmit only tensile forces. The weight of cable roof dramatically can reduce when the length becomes large. The cable network system is too flexible, most cable systems are stabilized by pretension forces. The tensile force of cable system is greatly influenced by the sag ratio and pretension forces. Determining initial sag ratio of cable roof system is essential in a design process of cable structures. Final sag ratio and pretension depends on initial installed sag and on proper handling during installation. The design shape of cable system has an affect on the sag and pretension, and must be determined using well-defined design philosophy. This paper is carried out the comparative data of the deflection and tensile forces on the geometric non-linear analysis of cable network systems according to sag ratio. The study of cable network system is provided to technical informations for the design of a large span cable roof, analytical results are compared with the results of other researchers. Structural nonlinear analysis of systems having cable elements is relatively complex than other rigid structural systems because displacements are large as a reason of flexibility, initial prestress is applied to cables in order to increase the rigidity, and then divergence of nonlinear analysis occurs rather frequently. Therefore, cable network systems do not exhibit a typical nonlinear behavior, iterative method that can handle geometric nonlinearities are necessary.

• Journal of the Korea Convergence Society
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• v.8 no.5
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• pp.185-192
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• 2017

Machine tool errors can be divided into geometric error, thermal deformation error, and machining error. In this study, the influence of each error on the total error and the relative size of each error are quantitatively analyzed in 2D machining. The thermal deformation error and the machining error caused a relatively large error compared to the geometric error, which is directly related to the machining accuracy. In order to eliminate the error factors, the possibility of error compensation was examined by analyzing the measured error profile shape. As a result, about 40 ~ 50% error compensation was achieved for each error factor. Through this study, it is possible to construct a basic data base on machining, and it is expected that it will be able to compensate the machining error from the viewpoint of users.

• The Mathematical Education
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• v.48 no.1
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• pp.1-20
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• 2009

The study was to investigate an effect of students' learning for enhancing spatial ability, using a geometric manipulative recently designed. A mixed methodology was chosen to achieve the purpose of the study. To find students' achievement, 152 of the 8th graders in Kyunggi Do participated in data collection. At the same time. students' performance of the class was videotaped and analyzed to see students' responses, The results showed that the effect of using the manipulative was statistically significant at level, p<.05 to enhance the spatial ability. Specifically, in comparison of each component. spatial orientation was more effective than spatial visualization. In the spatial orientation, the part of field was more effective than the reorganized whole. It showed that students were given more opportunities to find mathematical properties and relations between 2nd and 3rd-dimensional figures through their intuitive observation, and also the manipulative helped the students find the property of the part of field because it gave an easy way to manipulate the property of the find parts of whole which was composed of the frame of the solid figures without surfaces. In using the manipulative, students were very flexible in finding the number of plane figures, but the relations between the 2nd and 3rd dimensional figures need to be clearly guided in consideration of the characteristics of the manipulative, based on the definitions of geometric properties(cf. points can make lines, not surfaces directly).

• KSCE Journal of Civil and Environmental Engineering Research
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• v.33 no.4
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• pp.1611-1617
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• 2013

Information about trafficability or the condition of road with regard to its being traveled over by vehicles is one of the most critical factors for roadway operation in winter. Specifically, when traveling on snowy or icy surfaces, the traction force varies per vehicle type including tire types, geometric characteristics of roads, and conditions of road surfaces. In general, front-wheel drive or four-wheel drive vehicles have better traction performance on snowy or icy surface than rear-wheel drive vehicles, and the latter type vehicle causes more serious traffic congestion when there is unexpected snowfall. Thus, traffic information regarding trafficability with respect to vehicle types, geometric characteristics of roadway sections, and roadway surface conditions can provide a foundation to make a decision whether to use the associated roadway sections for roadway operators as well as users. Based on the preceding premise, the objective of this study is to present a methodology for developing a trafficability index with respect to vehicle types, geometric characteristics of roadway sections, and roadway surface conditions.

• Journal of the Korean School Mathematics Society
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• v.11 no.3
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• pp.513-541
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• 2008

The purposes of the study were to investigate whether the use of the Geometer's Sketchpad(GSP) is more effective than the use of traditional tools such as ruler and protractor to enhance eighth- grade students' understanding of quadrilaterals and geometric reasoning ability and to examine how the use of the software affects on the development of students' understanding and reasoning ability. According to the results of the posttest, there was a significant difference in student achievement between students using GSP and students using ruler and protractor. Students using GSP significantly outperformed students using ruler and protractor on the posttest. Student interview data showed that the use of the GSP was more effective in developing students' geometric reasoning ability. Students using GSP achieved higher degrees of acquisition for van Hiele level 2 and 3 than students using ruler and protractor. Dynamic visual representations and hands-on experiences provided in GSP learning environment helped students approach quadrilateral concepts more conceptually and realize their pre-existing conceptual errors and re-conceptualize their mathematical ideas.