• Journal of IKEEE
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• v.9 no.1 s.16
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• pp.7-18
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• 2005

A key component of an autonomous mobile robot is to localize itself accurately and build a map of the environment simultaneously. In this paper, we propose a vision-based mobile robot localization and mapping algorithm using scale-invariant features. A camera with fisheye lens facing toward to ceiling is attached to the robot to acquire high-level features with scale invariance. These features are used in map building and localization process. As pre-processing, input images from fisheye lens are calibrated to remove radial distortion then labeling and convex hull techniques are used to segment ceiling region from wall region. At initial map building process, features are calculated for segmented regions and stored in map database. Features are continuously calculated from sequential input images and matched against existing map until map building process is finished. If features are not matched, they are added to the existing map. Localization is done simultaneously with feature matching at map building process. Localization. is performed when features are matched with existing map and map building database is updated at same time. The proposed method can perform a map building in 2 minutes on $50m^2$ area. The positioning accuracy is ${\pm}13cm$, the average error on robot angle with the positioning is ${\pm}3$ degree.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.49 no.4
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• pp.89-96
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• 2012

A 3D map provides useful information for intelligent services. Traditional 3D maps, however, consist of a raw image data and are not suitable for real-time applications. In this paper, we propose the Block-based 3D map, that represents three dimensional spaces in a collection of square blocks. The Block_based 3D map has two major variables: an object ratio and a block size. The object ratio is defined as the proportion of object pixels to space pixels in a block and determines the type of the block. The block size is defined as the number of pixels of the side of a block and determines the size of the block. Experiments show the advantage of the Block-based 3D map in reducing noise, and in saving the amount of processing data. With the block size of $40{\times}40$ and the object ratio of 30% to 50% we can get the most matched Block-based 3D map for the $320{\times}240$ depthmap. The Block-based 3D map provides useful information, that can produce a variety of new services with high added value in intelligent environments.

• Journal of the Chungcheong Mathematical Society
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• v.26 no.3
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• pp.533-539
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• 2013

In this paper, using the E-convexity, we introduce the generalized E-KKM map, and next prove the generalized E-KKM theorem which generalizes the KKM theorem due to Fan [4]. As an application, a fixed point theorem in E-convex sets is given.

• Communications of the Korean Mathematical Society
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• v.17 no.3
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• pp.459-465
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• 2002

In this paper, axed point theorems for contractive and expansive maps are established, some of which extend a few results of Das and Debata, Edelstein, Fisher, Leader, Shih and Yeh, and Jungck.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.9
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• pp.1814-1821
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• 2002

NC cutting simulation is an important factor in the development of products. The geometric modelling of cutter swept surface should be done in NC cutting simulation. A part of cutter swept surface is a ruled surface blended with silhouette curve and cutter path. Finding an intersection point between cutter swept surface and a line is one of major problems in Z-map based cutting simulation. In this paper, cutter swept surface is defined parametrically and it's intersection point with Z-map is found in an exact form. Triangular grid Z-map based 3-axis NC cutting simulation is performed.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.6
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• pp.1175-1184
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• 2015

A depth map is an image which contains 3D distance information. Generally, it is difficult to acquire a high resolution (HD), noise-removed, good quality depth map directly from the camera. Therefore, many researches have been focused on acquisition of the high resolution and the good quality depth map by up-sampling and pre/post image processing of the low resolution depth map. However, many researches are lack of effective up-sampling for the edge region which has huge impact on image perceptual-quality. In this paper, we propose an up-sampling method, based on joint bilateral filter, which improves up-sampling of the edge region and visual quality of synthetic images by adopting different weights for the edge parts that is sensitive to human perception characteristics. The proposed method has gains in terms of PSNR and subjective video quality compared to previous researches.

• Molecules and Cells
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• v.21 no.3
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• pp.360-366
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• 2006

Up to 35% of the rice genome consists of various kinds of transposons, and CACTA and MITE are two of the major class 2 DNA transposons in the genome. We have employed the consensus sequences of Rim2/Hipa CACTA, Stowaway MITE Pangrangja, and Tourist MITE Ditto for transposon display (TD) analysis to locate them on a genetic map, with 58 SSR markers used to anchor them. The TD analysis produced a high profile of the polymorphisms between the parental lines, Oryza sativa var. Gihobyeo/O. sativa var. Milyang, in intraspecific $F_{15}$ RIL lines, locating 368 markers of Rim2/Hipa CACTA, 78 markers of Tourist MITE Ditto, and 22 markers of Stowaway MITE Pangrangja. In the segregation analysis, non-parental segregating bands and segregation distortion bands were observed. The recombinant genetic map spans 3023.9 cM, with 5.7 cM the average distance between markers. The TD markers were distributed unequally on the chromosomes because many TD markers were located in pericentric chromosomal regions except in the cases of chromosomes 2, 3, 6 and 9. Although the number of transposon markers was not sufficient to include all rice class 2 transposons, the current map of CACTA and MITE transposons should provide new insight into the genome organization of rice since no previous DNA transposon map is available.

• Journal of Navigation and Port Research
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• v.29 no.3 s.99
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• pp.269-274
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• 2005

Geodetic surveying using precise GPS equipment are used without analysis with a statistical verification of GPS observed value and it was preformed by necessity to integration projection of digital topographic map and nautical Chart for integration geographic information system construction. The purpose of this study proposes method that improve accuracy of GPS observed value and direction that integrally manage digital topographic map and electronic nautical chart in analyzing the boundary line error between digital topographic map and nautical Chart. For improvement of the precision of GPS observed value, the author studied precision-analysis of GPS observed value by geometric strength and variance factor in 3 control points used in GPS network adjustment. And like this, produce EDM measurement using this GPS observation results and compare the whole boundary point error when set digital topographic map and nautical chart by these boundary.

• Journal of Cadastre & Land InformatiX
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• v.47 no.2
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• pp.49-60
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• 2017

Recently, the use of mashup that integrates real-time data with spatial data such as tiled map and satellite imagery has been increased significantly. As the use of mashup has been extended to various fields of O2O, LBS, Smart City, and Autonomous Driving, the performance of mashup has become more important. Therefore, this study aims to compare and analyze the performance of various map platforms, when large amounts of real-time data are integrated with spatial data. Specifically, we compare the performance of most popular map platforms available in Korea, such as Google Maps, OpenStreetMap, Daum Map, Naver Map, olleh Map, and VWorld. We also compare the performance using most common web browsers of Chrome, Firefox and Internet Explorer. In the performance analysis, we measured and compared the initialization time of basic map and the mashup time of real-time data for the above map platforms. From analysis results, we could find that Google Maps, OpenStreetMap, VWorld, and olleh Map platforms showed a better performance than the others.

• Asian-Australasian Journal of Animal Sciences
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• v.26 no.1
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• pp.134-142
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• 2013

The effect of modified atmosphere packaging (MAP; 30% $CO_2$+70% $N_2$ or 100% $N_2$) and an additive mixture (500 ppm rosemary extract, 3,000 ppm sodium acetate and 1,500 ppm calcium lactate) on the quality of pre-cooked hamburger patties during storage at $5^{\circ}C$ for 14 d was evaluated. The addition of the additive mixture reduced aerobic and anaerobic bacteria counts in both 30% $CO_2$-MAP (30% $CO_2$+70% $N_2$) and 100% $N_2$-MAP (p<0.05). The 30% $CO_2$-MAP was more effective to suppress the microbial growth than 100% $N_2$-MAP, moreover the 30% $CO_2$-MAP combined with additive mixture resulted in the lowest bacterial counts. The hamburger patties with additive mixture showed lower CIE $L^*$ and CIE $a^*$, and higher CIE $b^*$ than those with no additive mixture. The 30% $CO_2$-MAP tended to decrease the TBARS during storage regardless of the addition of additives. The use of 30% $CO_2$-MAP in combination with additives mixture was effective for maintaining the quality and extending the shelf-life of pre-cooked hamburger patties.