• Journal of Institute of Control, Robotics and Systems
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• v.21 no.10
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• pp.965-971
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• 2015

This paper suggests a feature point-based Iterative Closest Point (ICP) algorithm to compensate for the disparity error in building a two-dimensional map. The ICP algorithm is a typical algorithm for matching a common object in two different images. In the process of building a two-dimensional map using the laser scanner data, warping and distortions exist in the map because of the disparity between the two sensor values. The ICP algorithm has been utilized to reduce the disparity error in matching the scanned line data. For this matching process in the conventional ICP algorithm, pre-known reference data are required. Since the proposed algorithm extracts characteristic points from laser-scanned data, reference data are not required for the matching. The laser scanner starts from the right side of the mobile robot and ends at the left side, which causes disparity in the scanned line data. By finding the matching points between two consecutive frame images, the motion vector of the mobile robot can be obtained. Therefore, the disparity error can be minimized by compensating for the motion vector caused by the mobile robot motion. The validity of the proposed algorithm has been verified by comparing the proposed algorithm in terms of map-building accuracy to conventional ICP algorithm real experiments.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.683-688
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• 1994

Recently, the Z-Map model has been used widely to represent the three dimensional geometric shape and to achieve the cross-section and point evaluation of the shape. In this paper, the CNC cutting planning and simulation modules for product with three dimensional geometric shape are realized based on the Z-Map model. The realized system has the various capabilities related to the automatic generation of tool path for the rough and finish cutting processes, the automatic elimination of overcut, the automatic generation of CNC program for a machining center and the cutting simulation. Especially, the overcut-free tool path is obtained by using the CL Z-Map models which are composed of the offset surfaces of the geometric shape of product.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.8C
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• pp.782-789
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• 2009

In this paper, we propose an algorithm for creating stereoscopic video from a monoscopic video. Parallel straight lines in a 3D space get narrower as they are farther from the perspective images on a 2D plane and finally meet at one point that is called a vanishing point. A viewer uses depth perception clues called a vanishing point which is the farthest from a viewer's viewpoint in order to perceive depth information from objects and surroundings thereof to the viewer. The viewer estimates the vanishing point with geometrical features in monoscopic images, and can perceive the depth information with the relationship between the position of the vanishing point and the viewer's viewpoint. In this paper, we propose a method to estimate a vanishing point with edge direction histogram in a general monoscopic image and to create a depth map depending on the position of the vanishing point. With the conversion method proposed through the experimental results, it is seen that stable stereoscopic conversion of a given monoscopic video is achieved.

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.796-799
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• 1999

In this paper, we propose an inference method for understanding intention of obstacle for collision avoidance using the grid-type map. In order to represent the environment using ultrasonic sensors, the grid-type map is first constructed. Then we detect the obstacle and infer the intention for collision avoidance using the CLA(Centroid of Largest Area) point of the grid-type map. To verify the proposed method, some experiments are performed.

• Journal of Internet Computing and Services
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• v.6 no.5
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• pp.97-110
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• 2005

Recently, many WMS(Web Map Services) and POI(Point of Interest) services come to be in service on the Internet using Web GIS(Geographic Information System) as Information Technology and computer H/W are evolved faster in its speed, network bandwidth and features. The Web GIS is, however, limited and constrained on the specification of its system configuration, the service class provided and the presentation methodology of a map. As the mobile Internet becomes popular in mobile service, Web GIS service on mobile environment is strongly required and to be provided by location based WMS(Web Map Service) on a mobile client such as PDA with location information of the user. In this paper, we made an effort to design and implement a GIS computing environment by thin client for mobile web map service. For implementing the thin client GIS computing environment. we were using NGII's(National Geographic Information Institute's) DXF map, representing the map by SVG(Scalable Vector Graphics) recommended by OGC(OpenGis Consortium), and adapting standard XML web service to provide the thin client GIS service on PDA by applying the location information of the user in realtime with GPS on mobile environment.

• Proceedings of the Korean Information Science Society Conference
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• 2008.06d
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• pp.141-144
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• 2008

기존의 네트워크 환경에 이동성을 지원하기 위하여 Internet Engineering Task Force (IETF)에서는 Mobile IP(MIP)와 Mobile IPv6 (MIPv6)를 순차적으로 제안하였다. 그러나 MIP나 MIPv6는 유저가 요구하는 이동성을 지원하기에 많은 문제점을 나타내었고 이런 문제를 해결하기위해 Hierarchical MIPv6(HMIPv6)를 제안하였다. HMIPv6는 Home Agent (HA)를 향한 Binding Update (BU)를 줄이기 위해 Mobility Anchor Point (MAP) 라는 새로운 개념을 제안했다. 그러나 HMIPv6 역시 이동노드가 빠르게 이동하는 환경에서는 잦은 MAP BU로 인해 큰 오버헤드가 발생하는 문제점이 나타났다. 본 논문에서는 HMIPv6 환경에서 노드가 빠르게 이동할 때 발생하는 불필요한 MAP BU를 줄이기 위한 선택적 MAP 등록 기법을 제안한다. 이 기법은 기존에 제안되었던 계층적인 MAP 선택 기법들과는 다르게 상황에 따라 불필요한 MAP BU를 회피하는데서 차별성을 갖는다. 또한 OPNET을 이용한 시뮬레이션을 통해 기존의 HMIPv6에 비해 제안된 기법의 성능을 비교한다.

• Proceedings of the KSRS Conference
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• 2007.10a
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• pp.126-129
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• 2007

Telematics, one of the so-called New Growth Engine of IT839, is a leading IT service where wireless internet service represented by information and mobility is extended to the area of transportations to provide Telematics service. The killer-application of Telematics is navigation system. Recently, due to the mass storage conversion, the performance of the terminal and mobile communications technology development, navigation system is also changed. It more and more develops into 3D in a preexistence 2D map. In the future, it is expected to include the remote sensing map. There is also the characteristic of all the information expressed in frequently a change partially happening. That is, POI(Point Of Interest) which is freshly registered or is deleted is many. In a preexistence, MCP(Map Contents Providers) offer the new version map by off-line monthly or quarterly. And a user wastes time and is inconvenient because of updating the total map by the off-line. Thus, in this paper, in order to resolve this, we describe MCP-MAUS(Maus Air Update Server) interface for updating only the partial map that was changed.

• Annual Conference of KIPS
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• 2004.05a
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• pp.1279-1282
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• 2004

계층적인 Mobile IPv6 구조에서 실시간 서비스의 확대와 노드의 이동성 증가에 따라 Mobility Anchor Point(MAP)의 부하가 늘어나는 문제가 발생할 수 있다. 본 논문에서는 IETF(internet Engineering Task Force)의 중요한 마이크로 이동성 프로토콜인 HMIPv6의 기본동작을 설명하고 MAP에서 발생할 수 있는 부하를 하위에 있는 라우터에게 분산시키기 위하여 Passive Approach와 Active Approach 두 가지 방법을 제안하였다. Passive Approach는 MAP가 분산 시점을 결정하여 하위의 라우터에게 부하를 분산해주는 방법이고 Active Approach는 임의의 MAP하위에 있는 라우터가 스스로 분산 시점을 결정하여 MAP로 동작하여 MAP에서 발생할 수 있는 부하를 줄이는 방법이다.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.30 no.4C
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• pp.191-199
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• 2005

Space-time turbo codes have been studied extensively as a powerful and bandwidth efficient error correction code over the wireless communication environment. In this paper, the efficient algorithm for decoding space-time turbo codes is proposed. The proposed method reduces the computational complexity by approximating a prior information for a iterative decoder. The performance of space-time turbo codes is also analyzed by using the fixed point implementation and the efficient method for approximating the Log-MAP algorithm is proposed. It is shown that the BER performance of the proposed method is close to that of the Log-MAP algorithm.

• Journal of the Korea Computer Graphics Society
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• v.18 no.3
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• pp.1-7
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• 2012

In this paper, we propose a method to compute the interface between protein molecules. When a molecules is represented as a set of spheres with van der Waals radii, the distance from a spatial point p to the molecule corresponds to the distance from p to the closet sphere. The molecular interface is composed of equi-distant points from two molecules. Our algorithm decomposes the space into a set of voxels, and then constructs a voxel map by storing the information of spheres intersecting each voxel. By using the voxel map, we compute the distance between a point and the molecule. We also use GPU for the parallel processing, and efficiently approximate the interface of a pair of molecules.