• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2016년도 추계학술발표대회
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• pp.681-682
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• 2016

In this study we propose a novel approach to segment a terrain in two parts: ground and none-ground. The terrain is gained by a multi-channel 3D laser range sensor. We process each vertical line in each frame data. The vertical line is bounded by the sensor's position and a point in the largest circle of the frame. We consider each pair of two consecutive points in each line to find begin-ground and end-ground points. All points placed between a begin-ground point and an end-ground point are ground ones. The other points are none-ground. After examining all vertical lines in the frame, we obtain the terrain segmentation result.

• Journal of Information Processing Systems
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• 제14권6호
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• pp.1445-1456
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• 2018

Environment perception and three-dimensional (3D) reconstruction tasks are used to provide unmanned ground vehicle (UGV) with driving awareness interfaces. The speed of obstacle segmentation and surrounding terrain reconstruction crucially influences decision making in UGVs. To increase the processing speed of environment information analysis, we develop a CPU-GPU hybrid system of automatic environment perception and 3D terrain reconstruction based on the integration of multiple sensors. The system consists of three functional modules, namely, multi-sensor data collection and pre-processing, environment perception, and 3D reconstruction. To integrate individual datasets collected from different sensors, the pre-processing function registers the sensed LiDAR (light detection and ranging) point clouds, video sequences, and motion information into a global terrain model after filtering redundant and noise data according to the redundancy removal principle. In the environment perception module, the registered discrete points are clustered into ground surface and individual objects by using a ground segmentation method and a connected component labeling algorithm. The estimated ground surface and non-ground objects indicate the terrain to be traversed and obstacles in the environment, thus creating driving awareness. The 3D reconstruction module calibrates the projection matrix between the mounted LiDAR and cameras to map the local point clouds onto the captured video images. Texture meshes and color particle models are used to reconstruct the ground surface and objects of the 3D terrain model, respectively. To accelerate the proposed system, we apply the GPU parallel computation method to implement the applied computer graphics and image processing algorithms in parallel.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 추계종합학술대회 논문집
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• pp.1085-1088
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• 1999

This paper presents a method for soccer scene analysis and coordinate transformation from scene to ground model using a priori knowledge. First, the ground and spectator regions are separated, and various objects are extracted from the separated ground region. Second, an affine model is used for mapping the object positions on the soccer image into the position on the ground model. Problems regarding holes arising from mapping processing are solved using inverse mapping instead of a usual interpolation method. Experiments are performed on a PC using about 100 RGB images acquired at 240＊640 resolution and 3∼5 frames per second.

• 국제학술발표논문집
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• The 6th International Conference on Construction Engineering and Project Management
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• pp.669-670
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• 2015

Efficient management of the construction heavy equipment is required to reduce the rate of carbon emissions and on-site accidents. The intelligent excavation system (IES) will improve the construction quality and productivity through information technologies and efficient equipment operation, especially in large earthwork projects. Three-dimensional digitized ground data should be required for identifying the path of heavy equipment and work-site environment. Rapid development of terrain laser scanners (TLS) is more readily to acquire the digital data. This study suggests the '3D ground terrain processing platform (3DGTPP)' including data manipulating module and analyzing module of the scanned data for intelligent earthmoving equipment operation. The processing platform consists of six modules, including scanning, registering, manipulating, analyzing, transmitting, and storing. 3D ground terrain processing platform presented in this study will provide fundamental information for intelligent excavation system (IES), which will increase the efficiency of earthworks and safety of workers in significant.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2007년도 Proceedings of ISRS 2007
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• pp.544-547
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• 2007

Because data processing systems in recent years are more complicated, main function of the data processing is divided as several sub-functions which are implemented and verified in each subsystem of the data processing system. For the verification of data processing system, many interface tests among subsystems are required and also a lot of simulation systems are demanded. This paper proposes CTHS (Common Test Harness System) for satellite ground segment development which has all of functions for interface test of the data processing system in one PC. Main functions of the CTHS software are data interface, system log generation, and system information display. For the interface test of the data processing system, all of actions of the CTHS are executed by a pre-defined operation scenario which is written by purpose of the data processing system test.

• Journal of Information Processing Systems
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• 제13권3호
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• pp.491-499
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• 2017

In this study, we proposed a new approach to segment ground and nonground points gained from a 3D laser range sensor. The primary aim of this research was to provide a fast and effective method for ground segmentation. In each frame, we divide the point cloud into small groups. All threshold points and start-ground points in each group are then analyzed. To determine threshold points we depend on three features: gradient, lost threshold points, and abnormalities in the distance between the sensor and a particular threshold point. After a threshold point is determined, a start-ground point is then identified by considering the height difference between two consecutive points. All points from a start-ground point to the next threshold point are ground points. Other points are nonground. This process is then repeated until all points are labelled.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2005년도 춘계 학술발표회 논문집
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• pp.1420-1425
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• 2005

In a case of an example in Korea, some areas of Yangsan near Busan which exist on soft ground with aquifer, showed us some difficulties of the preparing for housing site and earth structures. From these experiences, recently, the development and research of technology is getting increased, which minimize the influence to the environment from construction work, which is in an agreement with eco-friendly construction in terms of the reasonable processing of ground water. On this case study, one area of Japan that has many site on soft ground with aquifer, is introduced as the reasonable processing of ground water. The applications of the technology for ground water in Korea are discussed.

• 제어로봇시스템학회논문지
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• 제15권1호
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• pp.54-60
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• 2009

In this paper, a precision landing approach is implemented based on real-time image processing. A full-scale landmark for automatic landing is used. canny edge detection method is applied to identify the outside quadrilateral while circular hough transform is used for the recognition of inside circle. Position information on the ground landmark is uplinked to the unmanned helicopter via ground control computer in real time so that the unmanned helicopter control the air vehicle for accurate landing approach. Ground test and a couple of flight tests for autonomous landing approach show that the image processing and automatic landing operation system have good performance for the landing approach phase at the altitude of $20m{\sim}1m$ above ground level.

• 한국항공우주학회지
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• 제44권8호
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• pp.718-727
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• 2016

우리나라 지상시스템은 위성 관제와 탑재체자료 처리를 위해서 1990년대부터 개발되기 시작하였다. 과학위성, 저궤도위성 및 정지궤도 지상시스템의 초기 개발 시에는 국제기술협력 등이 필요하였으나, 초기 기술 확보 이후에는 국내 독자 기술로 개발되기 시작하였다. 우리나라는 지금까지 총 14기의 지상시스템을 개발하였으며, 본 논문은 이러한 경험을 바탕으로 발전 전망 및 방향을 제시한다. 관제시스템은 재구성, 재사용, 자동화 기술을 기반으로 하는 다중위성 관제시스템 개발이 필요하다. 처리시스템은 다양한 탑재체자료 처리 기술의 확보와 처리정확도 향상을 위한 검보정 기술의 접목이 필요하다. 또한, 탑재체 자료 양의 증가로 인한 고속처리 기술 확보와 처리된 탑재체자료를 사용자 간에 사용하고 통합하는 상호운영성 연구가 필요하다. 끝으로, 다양한 종류의 많은 위성을 운영할 수 있도록 국내외에 분포된 안테나 등 국가 지상시스템 인프라 망 구축이 필요하다.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2003년도 Proceedings of ACRS 2003 ISRS
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• pp.634-636
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• 2003

Satrec Initiative (Si) is developing a ground processing system for Synthetic Aperture Radar (SAR) data. SAR provides its own illumination and is not dependent on the light from sun, thus permitting continuous day/night operation and all-weather imaging. The system is capable of producing standard level products from SAR signal. Hence, the system should be able to perform matched filtering, range compression, azimuth compression, multi-look image generation, and geocoded image generation. This paper will describe the processing steps including algorithms, design, and accuracy of the Si's SAR processing system by comparing with commercial software.