• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.205-211
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• 2020

In this paper, we propose a modified ORB-SLAM (Oriented FAST and Rotated BRIEF Simultaneous Localization And Mapping) for precise indoor navigation of a mobile robot. The exact posture and position estimation by the ORB-SLAM is not possible all the times for the indoor navigation of a mobile robot when there are not enough features in the environment. To overcome this shortcoming, additional IMU (Inertial Measurement Unit) and encoder sensors were installed and utilized to calibrate the ORB-SLAM. By fusing the global information acquired by the SLAM and the dynamic local location information of the IMU and the encoder sensors, the mobile robot can be obtained the precise navigation information in the indoor environment with few feature points. The superiority of the modified ORB-SLAM was verified to compared with the conventional algorithm by the real experiments of a mobile robot navigation in a corridor environment.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.1
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• pp.44-49
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• 2003

This paper describes a method of estimating miniature train location by color vision for development of an intelligent railway system model. In the teal world, to control trains automatically, GPS(Global Positioning System) is indispensable to determine the location of trains. A color vision system was used for estimating the location of trains in an indoor experiment. Two different rectangular color bars were attached to the top of each train as a means of identifying them. Several trains were detected where they were located on the track by color feature, geometric features and moment invariant, and tracked simultaneously. In the experiment the identity, location and direction of each train were estimated and transferred to the control computer using serial communication. Processing speed of up to 8 frames/sec could be achieved, which was enough speed for the real-time train control.

• Journal of Agricultural Extension & Community Development
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• v.17 no.3
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• pp.549-585
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• 2010

Our global environment and ecology are now facing crisis due to the hrincreased waster materials caused by reckless abuse of resources and energy with the continuous development of our society. Therefore the whole nation should recognize the environmental pollution seriously and should accept sustainable development principles. The country is looking for actions against the problems in various ways. The introduction of reckless and duplicating western housing plan should be ceased but a new housing plan conforming to our nature should be found. In this regard, it is believed that it is a good alternative to succeed tradition and identity of Korean housing plan and suggest a new plan for better ecological housing by analyzing the environment friendliness of our traditional Korean houses. In this study, the traditional residential components were divided into physical and design aspects and the characteristics of environment friendly Korean traditional houses were analyzed.

• Journal of Korea Port Economic Association
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• v.21 no.3
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• pp.191-217
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• 2005

Ninety percent of an average Chinese manufacturer's time spent is on logistics. Therefore, logistics presents the greatest challenge for multinational companies conducting businesses in China. Although more than 18,000 registered logistics companies exist in China, 85 percent of their revenues are generated from basic trucking and storage services. These facts indicate that China will need increasing presence of high-quality foreign 3PL providers, who are able to provide sophisticated IT systems, industry/operational expertise, standardized operating processes, and international networks, compared to their Chinese counterparts. However, they are facing complicated array of laws and regulations as well as difficulty of finding qualified people to fulfill these needs. There are a number of foreign 3PL providers engaged in China's logistics sector to reap a huge opportunity. Nevertheless, many 3PL foreign providers are still cautious about making large investments. Thus they arelooking for alliances that can provide complementarities instead. Another salient feature of strategy is to take over the transportation assets and warehousing of major Chinese manufacturers and distributors.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.843-849
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• 2006

Intelligent Space defines an environment where many intelligent devices, such as computers and sensors, are distributed. As a result of the cooperation between smart devices, intelligence emerges from the environment. In such scheme, a crucial task is to obtain the global location of every device in order to of for the useful services. Some tracking systems often prepare the models of the objects in advance. It is difficult to adopt this model-based solution as the tracking system when many kinds of objects exist. In this paper the location is achieved with no prior model, using color properties as information source. Feature vectors of multiple objects using color histogram and tracking method are described. The proposed method is applied to the intelligent environment and its performance is verified by the experiments.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2358-2361
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• 2001

In recent years there have been increasing interests in real-time object tracking with image information. Since image information is affected by illumination, this paper presents the real-time object tracking method based on neural networks which have robust characteristics under various illuminations. This paper proposes three steps to track the object and the fast tracking method. In the first step the object color is extracted using neural networks. In the second step we detect the object feature information based on invariant moment. Finally the object is tracked through a shape recognition using neural networks. To achieve the fast tracking performance, this paper first has a global search of entire image and tracks the object through local search when the object is recognized.

• Journal of information and communication convergence engineering
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• v.3 no.1
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• pp.33-37
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• 2005

One of the most important feature of the Mobile Manipulator is redundant freedom. Using the redundant freedom, Mobile Manipulator can move various mode, perform dexterous motion. In this paper, to improve robot job ability, as two robots perform a job in co-operation control, we studied optimal position and posture of Mobile Manipulator with minimum movement of each robot joint. Kinematics of mobile robot and task robot is solved. Using mobility of Mobile robot, weight vector of robots is determined. Using Gradient methode, global motion trajectory is minimized. so the job which Mobile Manipulator perform is optimized. The proposed algorithm is verified with PURL-II which is Mobile Manipulator combined Mobile robot and task robot. and discussed the result.

• Journal of Korea Multimedia Society
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• v.14 no.5
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• pp.642-649
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• 2011

Among the various aspects of offline handwritten character patterns, it is the great variety of writing styles and variations that renders the task of computer recognition very hard. The immense variety of character shape has been recognized but rarely studied during the past decades of numerous research efforts. This paper tries to address the problem of measuring image distortions and handwritten character patterns with respect to reference patterns. This work is based on mass-spring mesh model with the introduction of simulated electric charge as a source of the external force that can aid decoding the shape distortion. Given an input image and a reference image, the charge is defined, and then the relaxation procedure goes to find the optimum configuration of shape or patterns of least potential. The relaxation process is based on the fourth order Runge-Kutta algorithm, well-known for numerical integration. The proposed method of modeling is rigorous mathematically and leads to interesting results. Additional feature of the method is the global affine transformation that helps analyzing distortion and finding a good match by removing a large scale linear disparity between two images.

• Korean Journal of Remote Sensing
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• v.10 no.1
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• pp.55-67
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• 1994

The International TOVS(TIROS Oprational Vertical Sounders) Process Package(ITPP-VI)is for a global usage, which needs a surface data to generate atmospheric soundings. If the initial input process in the ITPP-VI is not modified, it takes climatic surface data for producing sounding data in general. Korea Meteorological Administration(KMA) is trying to improve the quality of TOVS sounding data using real-time synoptic observations and make a use weather prediction and analysis in various ways. Serval cases in this study show that TOVS retrieved meteolorogical parameters such as atmopheric temperature, dew point depression and geopotential heights used by synoptic surface observations can delineate more detailed atmospheric feature rather than those used by climate surface data. In addition, the collocated comparisons of TOVS synoptic retrieved parameters with radiosonde observations are performed statistically. TOVS retrieved fields with the synoptic surface analyzed data show smaller bias reatively than those with the climatic data and also reduced root mean square differences below 700 hPa as expected.

• Journal of the Optical Society of Korea
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• v.15 no.1
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• pp.15-21
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• 2011

This paper proposes a new approach to palmprint verification based on the gradient, in which a palm image is considered to be a three-dimensional terrain. Principal lines and wrinkles make deep and shallow valleys on a palm landscape. Then the steepest slope direction in each local area is first computed using the Kirsch operator, after which an orientation map is created that represents the dominant slope direction of each pixel. In this study, three orientation maps were made with different scales to represent local and global gradient information. Next, feature matching based on pixel-unit comparison was performed. The experimental results showed that the proposed method is superior to several state-of-the-art methods. In addition, the verification could be greatly improved by fusing orientation maps with different scales.