• 제어로봇시스템학회논문지
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• 제22권12호
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• pp.1046-1052
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• 2016

For the safe driving of autonomous vehicles, accurate position estimation is required. Generally, position error must be less than 1m because of lane keeping. However, GPS positioning error is more than 1m. Therefore, we must correct this error and a map matching algorithm is generally used. Especially, road marking intensity map have been used in many studies. In previous work, 3D LIDAR with many vertical layers was used to generate a local intensity map. Because it can be obtained sufficient longitudinal information for map matching. However, it is expensive and sufficient road marking information cannot be obtained in rush hour situations. In this paper, we propose a localization algorithm using an accumulated intensity local map. An accumulated intensity local map can be generated with sufficient longitudinal information using 3D LIDAR with a few vertical layers. Using this algorithm, we can also obtain sufficient intensity information in rush hour situations. Thus, it is possible to increase the reliability of the map matching and get accurate position estimation result. In the experimental result, the lateral RMS position error is about 0.12m and the longitudinal RMS error is about 0.19m.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2003년도 춘계 학술발표회논문집
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• pp.23-29
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• 2003

We have developed a Web-based intensity map generation system. We describe here briefly our system that is automatically generating seismic intensity map using the informations afforded by Internet users who actually experience recent earthquake. Whenever internet survey questionnaires, reported from the citizens using the form available through our Web site, are received, the associated ZIP code region is color-coded according to the Modified Mercalli Intensity Scale. As the number of questionnaires is increased, the intensity value of each region divided by ZIP code is averaged and updated automatically. The coverage of acceleration stations is insufficient to map the accurate extent of ground shaking in Korea. So our system will serve as an alternative for much more rapid generation of intensity map than conventional method, such as mailing intensity survey or elaborate manual processing.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 1997년도 춘계 학술발표회 논문집 Proceedings of EESK Conference-Fall 1997
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• pp.21-26
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• 1997

For 262 locations throughout the southern part of Korean peninsula, intensities of 13 December 1996 Yeongweol earthquake are estimated to make an isoseismal map and investigate attenuation properties in the southern part of Korea. Due to the inherent uncertainties in the estimation of intensities, obtained intensity map show quite scattered pattern of intensity distribution. Estimated intensities range from III to possibly Ⅷ. In case of intensity larger than Ⅵ, considerable damages such as fracturing of walls are reported one of the most significant feature of the intensity map is, considering its magnitude 4.7 reported by KMA, the felt area is appeared to be unusually large covering most of the Korean peninsula except Cheju island. This result indicates ether the magnitude is underestimated or the focus of this earthquake is much deeper. Assuming shallow(less than 10km) intraplate earthquake, we obtained average magnitude 5.6 by using the area encircled by isoseismal contour lines from intensity IV to intensity Ⅶ. This ambiguity can be clarified if more reliable focal depth is estimated by using teleseismic earthquake records in the future.

• 대한원격탐사학회지
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• 제23권5호
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• pp.455-464
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• 2007

Lee(2007) suggested the Point-Jacobian iteration MAP estimation(PJIMAP) for noise removal of the images that are corrupted by multiplicative speckle noise. It is to find a MAP estimation of noisy-free imagery based on a Bayesian model using the lognormal distribution for image intensity and an MRF for image texture. When the image intensity is logarithmically transformed, the speckle noise is approximately Gaussian additive noise, and it tends to a normal probability much faster than the intensity distribution. The MRF is incorporated into digital image analysis by viewing pixel types as states of molecules in a lattice-like physical system. In this study, the MAP estimation is computed by the Point-Jacobian iteration using adaptive parameters. At each iteration, the parameters related to the Bayesian model are adaptively estimated using the updated information. The results of the proposed scheme were compared to them of PJIMAP with SAR simulation data generated by the Monte Carlo method. The experiments demonstrated an improvement in relaxing speckle noise and estimating noise-free intensity by using the adaptive parameters for the Ponit-Jacobian iteration.

• 한국의학물리학회지:의학물리
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• 제13권1호
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• pp.32-36
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• 2002

세기조절방사선치료(Intensity Modulated Radiation TheraIntensity modulated radiation therapy ; Virtual micro-IMRT ; Intensity map ; MLCpy)에서 세기분포도(intensity map; IM)의 공간적 분해능은 방사선 민감장기(Critical Organ)를 보호하면서 종양에 최대 선량을 주는데 매우 중요하며, 일반적으로 다엽콜리메이터(MLC)의 폭에 좌우된다. 세기분포도의 공간적 분해능을 향상시키기 위한 방법으로는 두. 가지 방법이 있는데, 하드웨어를 추가하는 방법과 방사선 조사 기술을 변경하는 것이다. 물론 다엽콜리메이터의 폭을 작게 만드는 것이 최상의 방법이나, 하드웨어 기술적으로 어렵고 또한 추가비용이 많이 들게 된다. 따라서 여기에서는 추가적 비용이 들지 않으면서 기존의 장비를 그대로 활용할 수 있는 기술적 방법 중의 하나인 가상 미세 세기조절방사선치료(Virtual micro-IMRT) 기법을 구현하여 임상적으로 적용을 하기 위한 예비적 연구를 수행하였다. 가상의 42$\times$54 픽셀크기, 0.5cm의 15 level IM을 이용하여 1$\times$1cm, 0.5$\times$lcm, 0.5$\times$0.5cm(VMIM) beamlet 크기에 대해 비교하였다. 분석결과, 기대와는 달리, 1cm 폭의 MLC로 전달가능한 0.5$\times$lcm beamlet에 비해 크게 개선되지 않았다. 이는 VMIM의 제약조건에 기인되는 것으로 판단된다. 향후, 두경부암에서와 같이 1cm이하의 beamlet 분해능이 요구되는 경우에 적용시켜 추가적인 연구가 필요하다 하겠다.

• 전자공학회논문지S
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• 제35S권9호
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• pp.95-103
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• 1998

본 논문에서는 거리영상과 발기영상의 fusion을 이용한 영상분할을 제안한다. Bayes 이론을 기반으로 하여 Markov random field (MRF)로 선험적인 정보를 모델링한다. 거리영상과 밝기영상에서 추출한 특징을 이용하여 maximum a posteriori (MAP) 추정기를 구성한다. 거리영상에서 물체는 국부적인 평면으로 근사되어 각 점마다 평면 계수를 추정해 계수 공간을 구성한다. 밝기영상에서는 ${\alpha}$ 트림드 (${\alpha}$-trimmed) 분산이 밝기특성을 구성한다. 각 공간상의 특징을 에지에 대한 likelihood를 설정하여 구성된 MAP 추정기를 최적화함으로써 영상을 분할한다. 모의실험을 통해 제안된 구조가 그림자, 잡음 그리고 광원의 blurring에 관계없이 영상을 잘 분할한 것을 보였다.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2015년도 추계학술대회
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• pp.93-96
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• 2015

Disparity Map 예측의 목적은 유사한 두개 또는 그 이상의 이미지들에서 서로 대응하는 픽셀을 찾는 데 있다. 하지만 실제 환경에서 정확하고 일정한 Disparity를 획득하는 것은 어려운 문제이다. 즉, 스테레오 이미지의 Intensity 정보는 조명 방향, 조명 색상, 카메라 노출과 같은 Radiometric 특성에 쉽게 영향을 받을 수 있다. 따라서 기존의 일반적인 Disparity Map 예측 방법은 Radiometric 조건에서 좋은 결과를 얻기 힘들다. 본 논문에서는 실제 환경에 근접한 Radiometric 변화에서 신뢰성을 가지는 Disparity Map 예측 방법을 제안한다. 스테레오 이미지에서 하나의 이미지가 다른 Radiometric 특성을 가지더라도 객체의 일정 블록 구간 내 픽셀의 Intensity가 일정성(Constancy)를 가진다는 것에 착안한다. 실험결과, 제안하는 방법이 Radiometric 조건에서 검증적인 대조군보다 정확한 Disparity Map을 보여준다. 결과적으로, 본 기술은 Radiometric 조건의 변화에서 안정적으로 Disparity Map을 예측한다.

• 한국멀티미디어학회논문지
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• 제19권3호
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• pp.626-632
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• 2016

In this paper, we propose the defect emphasis in TFT-LCD panel image. The defect emphasis image consist of S(Shape) map and B(Brightness) map. S map based on DoG(difference of gaussian) is made with the mura defect shape characteristic. And B map use defect intensity property that defect intensity is higher than background. The experiments were conducted to evaluate the performance of the proposed defect emphasis method. The results of experiments show the validity of the defect emphasis using the proposed method.

• 로봇학회논문지
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• 제16권3호
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• pp.189-198
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• 2021

In this paper, we introduce the software/hardware system that can reliably calculate the distance from sensor to the model regardless of point cloud density. As the 3d point cloud map is widely adopted for SLAM and computer vision, the accuracy of point cloud map is of great importance. However, the 3D point cloud map obtained from Lidar may reveal different point cloud density depending on the choice of sensor, measurement distance and the object shape. Currently, when measuring map accuracy, high reflective bands are used to generate specific points in point cloud map where distances are measured manually. This manual process is time and labor consuming being highly affected by Lidar sparsity level. To overcome these problems, this paper presents a hardware design that leverage high intensity point from three planar surface. Furthermore, by calculating distance from sensor to the device, we verified that the automated method is much faster than the manual procedure and robust to sparsity by testing with RGB-D camera and Lidar. As will be shown, the system performance is not limited to indoor environment by progressing the experiment using Lidar sensor at outdoor environment.

• 한국측량학회지
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• 제34권2호
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• pp.195-206
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• 2016

The remote sensing technique using SAR data have many advantages when applied to the disaster site due to its wide coverage and all-weather acquisition availability. Although a single-pol (polarimetric) SAR image cannot represent the land surface better than a quad-pol SAR image can, single-pol SAR data are worth using for disaster-induced change detection. In this paper, an automatic change detection method based on a mixture of GGDs (generalized Gaussian distribution) is proposed, and usability of the textural features and intensity is evaluated by using the proposed method. Three ALOS/PALSAR images were used in the experiments, and the study site was Norita City, which was affected by the 2011 Tohoku earthquake. The experiment results showed that the proposed automatic change detection method is practical for disaster sites where the large areas change. The intensity information is useful for detecting disaster-induced changes with a 68.3% g-mean, but the texture information is not. The autocorrelation and correlation show the interesting implication that they tend not to extract agricultural areas in the change detection map. Therefore, the final tsunami-induced change map is produced by the combination of three maps: one is derived from the intensity information and used as an initial map, and the others are derived from the textural information and used as auxiliary data.