• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.5
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• pp.555-563
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• 2009

When a mobile mapping system or a robot is equipped with only a GPS (Global Positioning System) and multiple stereo camera system, a transformation from a local camera coordinate system to GPS coordinate system is required to link camera poses and 3D data by V-SLAM (Vision based Simultaneous Localization And Mapping) to GIS data or remove the accumulation error of those camera poses. In order to satisfy the requirements, this paper proposed a novel method that calculates a camera rotation in the GPS coordinate system using the three pairs of camera positions by GPS and V-SLAM, respectively. The propose method is composed of four simple steps; 1) calculate a quaternion for two plane's normal vectors based on each three camera positions to be parallel, 2) transfer the three camera positions by V-SLAM with the calculated quaternion 3) calculate an additional quaternion for mapping the second or third point among the transferred positions to a camera position by GPS, and 4) determine a final quaternion by multiplying the two quaternions. The final quaternion can directly transfer from a local camera coordinate system to the GPS coordinate system. Additionally, an update of the 3D data of captured objects based on view angles from the object to cameras is proposed. This paper demonstrated the proposed method through a simulation and an experiment.

• Journal of the Korean Society for Railway
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• v.20 no.2
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• pp.203-209
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• 2017

Research on condition monitoring and diagnosis of power facilities has been conducted to improve the safety and reliability of electric power supply. Although insulation diagnostic techniques for unit equipment such as gas-insulated switchgears and transformers have been developed rapidly, studies on monitoring of cables have only included aspects such as whether defects exist and partial discharge (PD) detection; other characteristics and features have not been discussed. Therefore, this paper dealt with PD characteristics against void sizes and positions, and with defect localization in XLPE cable. Four types of defects with different sizes and positions were simulated and PD pulses were detected using a high frequency current transformer (HFCT) with a frequency range of 150kHz~30MHz. The results showed that the apparent charge increased when the defect was adjacent to the conductor; the pulse count in the negative half of the applied voltage was about 20% higher than that in the positive half. In addition, the defect location was calculated by time-domain reflectometry (TDR) method, it was revealed that the defect could be localized with an error of less than1m in a 50m cable.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.45 no.12
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• pp.105-113
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• 2008

In Ubiquitous Society, accurate Location Calculation of user's device is required to achieve the need of users. As the location calculation is processed by ranging between transceivers, if some obstacles exist between transceivers, NLoS(Non-line-of-Sight) components of received signal increase along with the reduction of LoS(Line-of-Sight) components. Therefore the location calculation error will increase due to the NLoS effect. The conventional location calculation algorithm has the original ranging error because there is no transformation of ranging information which degrades the ranging accuracy. The Iterative Calculation method which minimizes the location calculation error relys on accurately identifying NLoS or LoS condition of the tested channel. We employ Kurtosis, Mean Excess Delay and RMS Delay spread of the received signal to identify whether the tested channel is LoS or NLoS firstly. Thereafter, to minimize location calculation error, the proposed Iterative Calculation method iteratively select random range and finds the averaged target location which has high probability. The simulation results confirm the enhancement of the proposed method.

• Journal of Broadcast Engineering
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• v.18 no.1
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• pp.31-42
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• 2013

This paper proposes a photogrammetric rectification method based on Bayesian approach as a method that eliminates vertical parallax between stereo images to minimize visual fatigue of 3D contents. The image rectification consists of two phases; geometry estimation and epipolar transformation. For geometry estimation, coplanarity-based relative orientation algorithm was used in this paper. To ensure robustness for mismatch and localization error occurred by automation of tie point extraction, Bayesian approach was applied by introducing several prior constraints. As epipolar transformation perspective transformation was used based on condition of collinearity to minimize distortion of result images and modification for input images. Other algorithms were compared to evaluate performance. For geometry estimation, traditional relative orientation algorithm, 8-points algorithm and stereo calibration algorithm were employed. For epipolar transformation, Hartley algorithm and Bouguet algorithm were employed. The evaluation results showed that the proposed algorithm produced results with high accuracy, robustness about error sources and minimum image modification.

• KIPS Transactions on Computer and Communication Systems
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• v.6 no.9
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• pp.369-376
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• 2017

Recently, an RSSI-based fingerprinting localization technology has been widely used in indoor location-based services. In the conventional fingerprinting method, as many APs as possible are used to increase the accuracy of location estimation. In another study, a part of APs having the strongest RSSI signal intensity are selected and used to reduce the time spent for positioning. However, it does not reflect the influence of RSSI occurred from the changes of the surrounding environments such as human movement or moving obstacles in a real environment. The environmental changes may cause the difference between the predicted RSSI signal strength value and the measured value, and thus occur an unpredictable error in the position estimation. Therefore, in order to mitigate the error caused by environmental factors, it is necessary to select APs suitable for indoor positioning estimation considering the changes in the surrounding environments. In this paper, we propose a method to select stable APs considering the influence of surrounding environments and derive a suitable positioning algorithm. In addition, we compare and analyze the performance of the proposed method with that of the existing AP selection methods through experiments.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.2
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• pp.381-389
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• 2012

This paper proposes a method which corrects location data of GPS for navigation of outdoor mobile robot. The method uses a Bayesian filter approach called the particle filter(PF). The method iterates two procedures: prediction and correction. The prediction procedure calculates robot location based on translational and rotational velocity data given by the robot command. It incorporates uncertainty into the predicted robot location by adding uncertainty to translational and rotational velocity command. Using the sensor characteristics of the GPS, the belief that a particle assumes true location of the robot is calculated. The resampling from the particles based on the belief constitutes the correction procedure. Since usual GPS data includes abrupt and random noise, the robot motion command based on the GPS data suffers from sudden and unexpected change, resulting in jerky robot motion. The PF reduces corruption on the GPS data and prevents unexpected location error. The proposed method is used for navigation of a mobile robot in the 2011 Robot Outdoor Navigation Competition, which was held at Gwangju on the 16-th August 2011. The method restricted the robot location error below 0.5m along the navigation of 300m length.

• 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 Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.11C
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• pp.957-964
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• 2010

In this paper, we propose an indoor positioning algorithm based on 3 points near field angle-of-arrival estimation without side information. The conventional angle-of-arrival based positioning scheme requires the distance between the listener and the center of two points which is obtained by a received signal strength based range estimation. However, a received signal strength is affected by structure of room, placement of furniture, and characteristic of signal, these effects cause a large error to estimation of angle. In this paper, the proposed positioning scheme based on near field angle-of-arrival estimation can be used to estimate the position of listener without a prior distance information, just using time-difference-of-arrival information given from 3 points microphones. The performance of the proposed scheme is shown by cumulative distribution function of root mean squared error.

• Tunnel and Underground Space
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• v.21 no.5
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• pp.349-358
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• 2011

This paper introduces a new P wave arrival time determination algorithm of acoustic emission (AE) suitable to identify P waves with low signal-to-noise ratio generated in rock masses around the high-level radioactive waste disposal repositories. The algorithms adopted for this paper were amplitude threshold picker, Akaike Information Criterion (AIC), two step AIC, and Hinkley criterion. The elastic waves were generated by Pencil Lead Break test on a granite sample, then mixed with white noise to make it difficult to distinguish P wave artificially. The results obtained from amplitude threshold picker, AIC, and Hinkley criterion produced relatively large error due to the low signal-to-noise ratio. On the other hand, two step AIC algorithm provided the correct results regardless of white noise so that the accuracy of source localization was more improved and could be satisfied with the error range.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.5
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• pp.379-388
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• 2019

Recently, a technique for acquiring spatial information data using UAV (Unmanned Aerial Vehicle) has been greatly developed. It is a very crucial issue of the GIS (Geographic Information System) mapping system that passes way point in the unmanned airframe and finally measures the accurate image and stable localization to the desired destination. Though positioning using DGPS (Differential Global Navigation System) or RTK-GPS (Real Time Kinematic-GPS) guarantee highly accurate, they are more expensive than the construction of a single positioning system using a single GPS. In the case of a low-priced single GPS system, the stability of the positioning data deteriorates. Therefore, it is necessary to supplement the uncertainty of the absolute position data of the UAV and to improve the accuracy of the current position data economically in the operating state of the UAV. The aim of this study was to present an algorithm enhancing the stability of position data in a single GPS mode of UAV with multiple GPS. First, the arrangement of multiple GPS receivers through the center of gravity of the UAV were examined. Next, MD (Mahalanobis Distance) is applied to detect instantaneous errors of GPS data in advance and eliminate outliers to increase the accuracy of previously collected multiple GPS data. Processing procedure for multiple GPS reception data by applying the center of the triangular method were presented to improve the position accuracy. Second, UAV navigation systems integrated multiple GPS through configuration of the UAV specifications were implemented. Using the unmanned airframe equipped with multiple GPS receivers, GPS data is measured with the TCM (Triangular Center Method). In addition, UAV equipped with multiple GPS were operated in study area and locational accuracy of multiple GPS of UAV with VRS (Virtual Reference Station) GNSS surveying were compared. The result showed that the error factors are compensated, and the error range are reduced, resulting in the reliability of the corrected value. In conclusion, the result in this paper is expected to realize high-precision position estimation at low cost in UAV using multiple low-cost GPS receivers.