• Journal of the Institute of Electronics Engineers of Korea SC
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• v.46 no.6
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• pp.65-72
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• 2009

This paper presents a vision based localization method for indoor mobile robots using the types of vertices from a monocular image. In the images captured from a camera of a robot, the types of vertices are determined by searching vertical edges and their branch edges with a geometric constraints. For obtaining correspondence between the comers of a 2-D map and the vertex of images, the type of vertices and geometrical constraints induced from a geometric analysis. The vertices are matched with the comers by a heuristic method using the type and position of the vertices and the comers. With the matched pairs, nonlinear equations derived from the perspective and rigid transformations are produced. The pose of the robot is computed by solving the equations using a least-squares optimization technique. Experimental results show that the proposed localization method is effective and applicable to the localization of indoor environments.

• The Journal of the Convergence on Culture Technology
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• v.1 no.1
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• pp.79-85
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• 2015

According to the growing use of the personal GPS in the mobile device recently, the LBS (Local bases service), which processes and refines the GPS information, such as a position-tracking service, a public safety service, a local based information service, has increased steadily. Due to the refraction or reflection of GPS, however, it is impossible to use GPS around or in buildings. Therefore, it is necessary to correct the errors of GPS. We propose the method which corrects the errors of GPS and creates the refined trajectory using intersection region indexing. After analyzing the trajectory, receiving trajectories from many people and identifying the similarity between of trajectories, we will recommend the favorite route and useful information such as restaurant, convenience store, bus station and emergency call service.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.36 no.4
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• pp.271-277
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• 2018

Generating an epipolar image which is removed a y-parallax from an original image is an essential technique for creating a 3D stereoscopic model or producing a map. In epipolar image production, there is a method of generating epipolar images by estimating the relative orientation parameters after matching the extracted distinct points in two images and a method of generating epipolar images by using the baseline and rotation angles of the two images after determining the exterior orientation parameters In this study, it was proposed a methodology to generate epipolar images using direction cosine in the exterior orientation parameters of the input images, and a method to use the transformation matrix for easy calculation when converting from the original image to the epipolar image. The applicability of the proposed methodology was evaluated by using images taken from the fixed wing and rotary wing drones. As a result, it was found that epipolar images were generated regardless of the type of drones.

• Design & Manufacturing
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• v.11 no.3
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• pp.41-45
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• 2017

Drones can be manipulated in a variety of ways. One of the most common controller is joystick method. But joystick controller uses both hands and takes a long time to learn. Particularly, in the case of 8-character flight, it is necessary to use both front and rear flight (pitch), left and right flight (Roll), and body rotation (Yaw). Joystick controller has limitations to intuitively control it. In particular, when the main body rotates, the viewpoint of the forward direction is changed between the drones and the user, thereby causing a mental rotation problem in which the user must control the rotating state of the drones. Therefore, we developed a motion matching controller that matches the motion of the drones and the controller. That is, the movement of the drone and the movement of the controller are the same. In this study, we used a gyro sensor and an acceleration sensor to map the controller's forward / backward, left / right and body rotation movements to drone's forward / backward, left / right, and rotational flight motion. The motor output is controlled by the throttle dial at the center of the controller. As the motions coincide with each other, it is expected that the first drone operator will be able to control more intuitively than the joystick manipulator with less learning.

• Proceedings of the Korea Contents Association Conference
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• 2008.05a
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• pp.449-452
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• 2008

The building heights of big cities which charged with most space are 3-D information as relative vertical distance from ground control points, but they didn't know the heights using contour with maps as lose of skyline or building heights for downtown, practically continuously developed of many technology methods for implementation of 3-D spatial earth. So, For the view as stereos of variety earth form generated 3-D spatial and made terrain perspective map, 3-D simulated of regional and urban space as aviation images. In this papers, it composited geospatial informations and images by DEM generation, and developed and presented for techniques overlay of CAD data and photos captured at our surroundings uses. Particularly, The airborne LiDAR surveying which are very interesting trend have laser scanning sensor and determine the ground heights through detecting angle and range to the grounds, and then designated 3-D spatial composite and simulation from urban areas. Therefore in this papers are suggested ease selections on the users situation by compare as various simulations that its generation of 3-D spatial image by collective for downtown space and urban sub, and the implementation methods for more accurate, more select for the best images.

• Korean Journal of Remote Sensing
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• v.24 no.5
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• pp.483-496
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• 2008

Qualified ground control points (GCPs) are required to construct a digital elevation model (DEM) from a pushbroom stereo pair. An inverse geolocation algorithm for extracting GCPs from ERS SAR data and the SRTM DEM was recently developed. However, not all GCPs established by this method are accurate enough for direct application to the geometric correction of pushbroom images such as SPOT, IRS, etc, and thus a method for selecting and removing inaccurate points from the sets of GCPs is needed. In this study, we propose a method for evaluating GCP accuracy and winnowing sets of GCPs through orientation modeling of pushbroom image and validate performance of this method using SPOT stereo pair of Daejon City. It has been found that the statistical distribution of GCP positional errors is approximately Gaussian without bias, and that the residual errors estimated by orientation modeling have a linear relationship with the positional errors. Inaccurate GCPs have large positional errors and can be iteratively eliminated by thresholding the residual errors. Forty-one GCPs were initially extracted for the test, with mean the positional error values of 25.6m, 2.5m and -6.1m in the X-, Y- and Z-directions, respectively, and standard deviations of 62.4m, 37.6m and 15.0m. Twenty-one GCPs were eliminated by the proposed method, resulting in the standard deviations of the positional errors of the 20 final GCPs being reduced to 13.9m, 8.5m and 7.5m in the X-, Y- and Z-directions, respectively. Orientation modeling of the SPOT stereo pair was performed using the 20 GCPs, and the model was checked against 15 map-based points. The root mean square errors (RMSEs) of the model were 10.4m, 7.1m and 12.1m in X-, Y- and Z-directions, respectively. A SPOT DEM with a 20m ground resolution was successfully constructed using a automatic matching procedure.

• Journal of the Korean Society of Hazard Mitigation
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• v.11 no.3
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• pp.157-163
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• 2011

In this study, after the target basin was divided into both overland and channel grids, the travel time from center of each grid cell to watershed's outlet was calculated based on the manning equation. Through this process, volumetric discharge was calculated according to the isochrones and finally, the direct runoff hydrograph was estimated considering watershed's hydrodynamic characteristics. Sanseong subwatershed located in main stream of Bocheong basin was selected as a target basin. The model parameters are only two: area threshold and channel velocity correction factor; the optimized values were estimated at 3,800 and 3.3, respectively. The developed model based on the tuned parameters led to well-matching results between observed and calculated hydrographs (mean of absolute error of peak discharge: 3.41%, mean of absolute error of peak time: 0.67 hr). Moreover, the analysis results regarding histogram of travel time-contribution area demonstrates that the proposed model characterizes relatively well hydrodynamic characteristics of the catchment due to effective rainfall.

• Journal of the Korea Institute of Information Security & Cryptology
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• v.21 no.6
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• pp.171-181
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• 2011

Proposed in this paper is the intelligent video surveillance system to effectively detect multiple loitering objects even that disappear from the out of camera's field of view and later return to a target zone. After the background and foreground are segmented using Gaussian mixture model and shadows are removed, the objects returning to the target zone is recognized using the chromaticity histogram and the duration of loitering is preserved. For more accurate measurement of the loitering behavior, the camera calibration is also applied to map the image plane to the real-world ground. Hence, the loitering behavior can be detected by considering the time duration of the object's existence in the real-world space. The experiment was performed using loitering video and all of the loitering behaviors are accurately detected.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.21 no.2
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• pp.17-32
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• 2022

This study explored an approach to estimate a flow-density diagram(FD) on a link in highway traffic environment by utilizing probe vehicles' time headway records. To study empirical flow-density diagram(EFD), the probe vehicles with vision sensors were recruited for collecting driving records for nine months and the vision sensor data pre-processing and GIS-based map matching were implemented. Then, we examined the new EFDs to evaluate validity with reference diagrams which is derived from loop detection traffic data. The probability distributions of time headway and distance headway as well as standard deviation of flow and density were utilized in examination. As a result, it turned out that the main factors for estimation errors are the limited number of probe vehicles and bias of flow status. We finally suggest a method to improve the accuracy of EFD model.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.5D
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• pp.869-876
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• 2006

In the case of earthenware cultural heritages that are found in the form of fragments, the major task is quick and precise restoration. The existing method, which follows the rule of trial and error, is not only greatly time consuming but also lacked precision. If this job could be done by three dimensional scanning, matching up pieces could be done with remarkable efficiency. In this study, the original earthenware was modeled through three-dimensional pattern scanning and photogrammetry, and each of the fragments were scanned and modeled. In order to obtain images from the photogrammetry, we calibrated and used a Canon EOS 1DS real size camera. We analyzed the relationship among the sections of the formed model, efficiently compounded them, and analyzed the errors through residual and color error map. Also, we built a web-based three-dimensional simulation environment centering around the users, for the virtual museum.