• 한국HCI학회:학술대회논문집
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• 2007.02a
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• pp.494-499
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• 2007

실제 영상과 가상의 오브젝트 또는 가상의 환경에 오브젝트를 합성하는 경우 등 사실적인 합성을 결과를 얻기 위해서는 실제 환경과 같은 배경 영상의 정확한 광원 정보가 필요하다. 본 논문에서는 실내 환경을 배경으로 영상을 합성 하는 과정에 필요한 광원정보를 카메라와 Light Probe를 이용하여 촬영된 단일 영상으로부터 추정하는 기법을 제안한다. 실내에 존재하는 광원들은 정확한 위치정보를 알 수 없는 실외환경에서와 달리 제한된 공간의 원점으로부터 3차원 공간에 위치한 좌표로 나타낼 수 있다. 광원을 추정하기 위해 먼저 실내 공간에 반사도가 높은 Light Probe를 위치하고 디지털 카메라의 적정 노출을 이용하여 광원 추정에 사용할 영상을 획득한다. 광원으로 존재하는 오브젝트의 경우 짧은 노출시간에도 카메라의 영상에 획득된다. 그렇기 때문에 단일 영상에서 광원의 영역을 추정하기 위해 영상처리를 통해 노출 시간을 짧게 하여 촬영한 영상과 비슷하게 밝은 영역만 표현되도록 처리를 한다. 전 처리된 영상으로부터 밝은 영역과 어두운 영역으로 구분을 하고 밝은 영역으로부터 광원의 정보를 추정한다. 추정된 광원들은 실제 렌더링에 곧바로 적용이 가능하며, 이를 통해 배경에 적합한 렌더링 결과를 얻을 수 있다.

• The Journal of Korea Robotics Society
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• v.9 no.2
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• pp.96-103
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• 2014

Global localization is one of the essential issues for mobile robot navigation. In this study, an indoor global localization method is proposed which uses a Kinect sensor and a monocular upward-looking camera. The proposed method generates an environment map which consists of a grid map, a ceiling feature map from the upward-looking camera, and a spatial feature map obtained from the Kinect sensor. The method selects robot pose candidates using the spatial feature map and updates sample poses by particle filter based on the grid map. Localization success is determined by calculating the matching error from the ceiling feature map. In various experiments, the proposed method achieved a position accuracy of 0.12m and a position update speed of 10.4s, which is robust enough for real-world applications.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.265-266
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• 2006

In this paper, the ECG monitoring system on mobile platform was proposed, which is very useful to gather, storage and diagnose ECG signal. The existing ECG monitoring system is for indoor environment but this system is for outdoor environment, especially for automobile system. The developed system consisted of data logger using microprocessor and data server fur diagnosis ECG signal. We develop the data acquisition system hardware and data monitoring system for ECG signal.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.55-57
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• 2018

In Simultaneous Localization and Mapping (SLAM), the robot acquire its map of environment while simultaneously localize itself relative to the map. Now a day, a map acquired by the mobile robots limit to specific area, in an indoor environment and cannot able to navigate autonomous between different floors. We propose a design that could able to overcome this issue in order to navigate multiple floors with one end goal mission to a target destination in the course of autonomous navigation. In this research, we consider all the floors have identical structural arrangement. Internet of Things (IoT) playing crucial role in bridging between "things" and Robot Operating System (ROS) enabled mobile robots.

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
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• 2008.06a
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• pp.554-558
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• 2008

점차 가속화 되는 현대화에 따라 복잡한 구조의 대형 시설 및 교통수단이 증가 되고 있으며 이는 화재 등과 같은 긴급 재난 상황 발생 시의 대형 피해를 초래하고 있다. 본 연구에서는 이와 같은 위험 상황에서의 피해를 최소화하기 위하여 사용되는 실시간 대피경로 안내시스템 구현을 위한 초기 과정으로 실시간으로 이동객체의 위치 정보를 획득하고 이를 건물 데이터 위해 표현하는 실시간 맵핑 시스템을 구현하였다.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.293-300
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• 2019

In this paper, an Embedded solution for fast navigation and precise positioning of mobile robots by floor features is introduced. Most of navigation systems tend to require high-performance computing unit and high quality sensor data. They can produce high accuracy navigation systems but have limited application due to their high cost. The introduced navigation system is designed to be a low cost solution for a wide range of applications such as toys, mobile service robots and education. The key design idea of the system is a simple localization approach using line features of the floor and delayed localization strategy using topological map. It differs from typical navigation approaches which usually use Simultaneous Localization and Mapping (SLAM) technique with high latency localization. This navigation system is implemented on single board Raspberry Pi B+ computer which has 1.4 GHz processor and Redone mobile robot which has maximum speed of 1.1 m/s.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.42 no.3 s.303
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• pp.39-52
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• 2005

In this paper, a registration method is presented to register partial 3D point clouds, acquired from a multi-view camera, for 3D reconstruction of an indoor environment. In general, conventional registration methods require a high computational complexity and much time for registration. Moreover, these methods are not robust for 3D point cloud which has comparatively low precision. To overcome these drawbacks, a projection-based registration method is proposed. First, depth images are refined based on temporal property by excluding 3D points with a large variation, and spatial property by filling up holes referring neighboring 3D points. Second, 3D point clouds acquired from two views are projected onto the same image plane, and two-step integer mapping is applied to enable modified KLT (Kanade-Lucas-Tomasi) to find correspondences. Then, fine registration is carried out through minimizing distance errors based on adaptive search range. Finally, we calculate a final color referring colors of corresponding points and reconstruct an indoor environment by applying the above procedure to consecutive scenes. The proposed method not only reduces computational complexity by searching for correspondences on a 2D image plane, but also enables effective registration even for 3D points which have low precision. Furthermore, only a few color and depth images are needed to reconstruct an indoor environment.

• Journal of Korean Society for Geospatial Information Science
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• v.22 no.3
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• pp.57-69
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• 2014

As of 2013, Korean population density is 505 persons per $1km^2$ and is ranked 3rd place in the most densely populated countries exception of city-states. It shows clearly the population is concentrated in the city area. To fulfil this urban concentration population demand, the enlargement and complexation of buildings, subway and other underground spaces connection tendency has been intensified, and it is need to construct the indoor spatial information DB as well as the accurate indoor surveying DB to promote people's safety and social welfare. In this study, Sadang station and Incheon National Airport were aimed for the construction of Wi-Fi AP location DB and RadioMap DB by collecting the indoor AP raw datas by using mobile device and those collected results were ran through the process of verification, supplementation, and analyzation. To evaluate the performance of constructed DB, 10 points in Incheon Airport- 3rd flr in block A, and 9 points in Sadang station-B1 were selected and calculated the estimated points and ran evaluation experiment using survey positioning error, which is distance between real position and the estimated position. The result shows that Incheon international airport's average and standard deviation was separately 17.81m, 17.79m and Sadang station's average and standard deviation was separately 22.64m, 23.74m. In Sadang station's case, the areas near the exit has low performance of surveying position due to fewer visible AP points than other areas. As total datas were examined except those position, it was verified that the user's location was mapping close position in surveying positioning by using constructed DB. It means that constructed DB contains correct Wi-Fi AP locations and radio wave patterns in object region, so it is considered that the indoor spatial information service based on constructed DB would be available.

• Journal of Korean Society for Geospatial Information Science
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• v.25 no.2
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• pp.31-37
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• 2017

Recently, governmental authority and local government are looking for a method of utilizing location information of smart phone for urgent rescue in fire and kidnap situation. Under this background, in this study, a method of rapidly collecting, constructing location determination based Wi-Fi AP data utilizing location information of smart phone and mobile mapping system was suggested in order to construct precise positioning information that could be utilized under urgent situation. By performing compensation work for GPS/INS/DMI through collected outcome, position of collected vehicle was acquired. In addition, source data integrating Wi-Fi information and collected position by coupling based on Wi-Fi AP collector and GPS time was constructed and Wi-Fi radiomap was constructed by removing Wi-Fi signal noise that reduces precise position performance. As a result of performing location determination performance assess ment by selecting 10 test positions by each local government, result value of 25.46cm for total local government average and 27.76m for SD could be obtained. It is considered that this result could be utilized as a technology of being able to supplement or substituting GPS location determination technology that is impossible in plocation determination of mobile communication company's base station (200m~2km) and indoor being used at present.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.355-361
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• 2006

In large scale environments like airport, museum, large warehouse and department store, autonomous mobile robots will play an important role in security and surveillance tasks. Robotic security guards will give the surveyed information of large scale environments and communicate with human operator with that kind of data such as if there is an object or not and a window is open. Both for visualization of information and as human machine interface for remote control, a 3D model can give much more useful information than the typical 2D maps used in many robotic applications today. It is easier to understandable and makes user feel like being in a location of robot so that user could interact with robot more naturally in a remote circumstance and see structures such as windows and doors that cannot be seen in a 2D model. In this paper we present our simple and easy to use method to obtain a 3D textured model. For expression of reality, we need to integrate the 3D models and real scenes. Most of other cases of 3D modeling method consist of two data acquisition devices. One for getting a 3D model and another for obtaining realistic textures. In this case, the former device would be 2D laser range-finder and the latter device would be common camera. Our algorithm consists of building a measurement-based 2D metric map which is acquired by laser range-finder, texture acquisition/stitching and texture-mapping to corresponding 3D model. The algorithm is implemented with laser sensor for obtaining 2D/3D metric map and two cameras for gathering texture. Our geometric 3D model consists of planes that model the floor and walls. The geometry of the planes is extracted from the 2D metric map data. Textures for the floor and walls are generated from the images captured by two 1394 cameras which have wide Field of View angle. Image stitching and image cutting process is used to generate textured images for corresponding with a 3D model. The algorithm is applied to 2 cases which are corridor and space that has the four wall like room of building. The generated 3D map model of indoor environment is shown with VRML format and can be viewed in a web browser with a VRML plug-in. The proposed algorithm can be applied to 3D model-based remote surveillance system through WWW.