• Journal of Institute of Control, Robotics and Systems
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• v.15 no.12
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• pp.1246-1253
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• 2009

To be high efficient for a navigation of unmanned ground vehicle, it must be able to distinguish between safe and hazardous regions in its immediate environment. We present an advanced method using laser range finder for building global 2D digital maps that include environment information. Laser range finder is used for mapping of obstacles and driving environment in the 2D laser plane. Rotary encoders are used for localization of UGV. The main contributions of this research are the development of an algorithm for global 2D map building and it will turn a UGV navigation based on map matching into a possibility. In this paper, a map building algorithm will be introduced and an assessment of algorithm reliability is judged at an each environment.

• The Journal of Korea Robotics Society
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• v.4 no.3
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• pp.169-176
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• 2009

Low-cost sensors have been widely used for mobile robot navigation in recent years. However, navigation performance based on low-cost sensors is not good enough to be practically used. Among many navigation techniques, building of an accurate map is a fundamental task for service robots, and mapping with low-cost IR sensors was investigated in this research. The robot's orientation uncertainty was considered for mapping by modifying the Bayesian update formula. Then, the data association scheme was investigated to improve the quality of a built map when the robot's pose uncertainty was large. Six low-cost IR sensors mounted on the robot could not give rich data enough to align the range data by the scan matching method, so a new sample-based method was proposed for data association. The real experiments indicated that the mapping method proposed in this research was able to generate a useful map for navigation.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.5
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• pp.470-475
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• 2009

This paper is the study which is head tracker using pattern matching. Proposal algorithm obtains initial attitude of head tracker using pattern matching. Optical head tracker consists of infrared LEDs(features) which are attached helmet as pattern, stereo infrared cameras. Proposal algorithm analyzes patterns by error rate of feature distance and estimates feature characteristic number. Initial attitude of head tracker is obtained to compare map data and feature characteristic number.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.753-758
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• 2016

In this paper, we propose a novel method for estimating a vehicle's current position, even on roads that have similar patterns. In the proposed method, we classified the semantic information of the nodes in detail and added the semantic information of the link to solve the problem due to similar and repeated patterns. We also improved the mapping method by comparing the result of the duplicated matching with that of the only matching obtained just before corresponding duplicated matching. From the simulation results, we verify that the performance of the proposed method is better than that of the existing method.

• Journal of the Korean Ceramic Society
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• v.29 no.4
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• pp.293-297
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• 1992

A proper combination of complex permeability and permittivity is necessary to produce the zero-reflection microwave absorber with an impedance matching. Increasing of dielectric permittivity and development of an impedance matching was investigated in ferrite-rubber composite specimens by addition of conducting materials. Graphite powder of high dielectric constant was added to the composite specimens to increase the permittivity. The precise estimation of graphite content to produce the matched-wave-impedance absorber at a given frequency can be made by using the numerically derived solution map of impedance matching. It was suggested that permittivity adjustment is an effective technique to obtained the microwave absorber with both good absorbing properties and small thickness as well.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2005.11a
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• pp.59-80
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• 2005

This Paper Presents a Rational Function Model (RFM)-based image matching technique for IKONOS satellite imagery. This algorithm adopts the object-space approach and reduces the search space within the confined line-shaped area called the Piecewise Matching Line (PLM). Also, the detailed procedure of generating 3-D surface information using the Rational Function model Coefficients (RFCs) is introduced as an end-user point of view. As a result, the final generated Digital Elevation Model (DEM) using the proposed scheme shows a mean error of 2$\cdot$2 m and RMSE of 3$\cdot$8 m compared with that from 1:5000 digital map.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.3
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• pp.163-172
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• 2003

A stereo matching has been an important tool for the reconstruction of 3D terrain. The current state of stereo matching technology has reached the level where a very elaborate DEM(Digital Elevation Map) can be obtained. However, there still exist many factors causing DEM error in stereo matching. This paper propose a new method to reduce the error caused by the lack of significant features in the correlation window The proposed algorithm keeps the correlation window as small as possible, as long as there is a significant feature in the window. Experimental results indicate that the proposed method increases the DEM accuracy by $72.65\%$ in the plain area and $41.96\%$ in the mountain area over the conventional scheme. Comparisons with Kanade's result show that the proposed method eliminates spike type of errors more efficiently than Kanade's adaptive window technique and produces reliable DEM.

• Korean Journal of Remote Sensing
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• v.25 no.3
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• pp.287-294
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• 2009

KOMPSAT-2 like other high-resolution satellites has the time and angle difference in the acquisition of the panchromatic (PAN) and multispectral (MS) images because the imaging systems have the offset of the charge coupled device combination in the focal plane. Due to the differences, high altitude and moving objects, such as clouds, have a different position between the PAN and MS images. Therefore, a mis-registration between the PAN and MS images occurs when a registration algorithm extracted matching points from these cloud objects. To overcome this problem, we proposed a new registration method. The main idea is to discard the matching points extracted from cloud boundaries by using an automatic thresholding technique and a classification technique on a distance disparity map of the matching points. The experimental result demonstrates the accuracy of the proposed method at ground region around cloud objects is higher than a general method which does not consider cloud objects. To evaluate the proposed method, we use KOMPSAT-2 cloudy images.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.5
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• pp.459-467
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• 2014

The importance of fusion and association using established spatial information has increased gradually with the production and supply of various spatial data by public institutions. The generation of necessary spatial information without field investigation and additional surveying can reduce time, labor, and financial costs. However, the study of the integration of the newly introduced road name address map with the digital map is very insufficient. Even though the use of the road name address map is encouraged for public works related to spatial information, the digital map is still widely used because it is the national basic map. Therefore, in this study, building matching and update were performed to associate the digital map with the road name address map. After geometric calibration using the block-based ICP (Iterative Closest Point) method, multi-scale corresponding pair searching with hierarchical clustering was applied to detect the multi-type match. The accuracy assessment showed that the proposed method is more than 95% accurate and the matched building layer of the two maps is useful for the integrated application and fusion. In addition, the use of the road name address map, which carries the latest and most frequently renewed data, enables cost-effective updating of new buildings.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.745-752
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• 2016

We suggest an efficient Simultaneous Localization and 3D Polygon Map Building (SLAM) method with Kinect depth sensor for mobile robots in indoor environments. In this method, Kinect depth data is separated into row planes so that scan line segments are on each row plane. After grouping all scan line segments from all row planes into line groups, a set of 3D Scan polygons are fitted from each line group. A map matching algorithm then figures out pairs of scan polygons and existing map polygons in 3D, and localization is performed to record correct pose of the mobile robot. For 3D map-building, each 3D map polygon is created or updated by merging each matched 3D scan polygon, which considers scan and map edges efficiently. The validity of the proposed 3D SLAM algorithm is revealed via experiments.