• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.321-324
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• 2005

In these days, the management and visualization of 3D geo-spatial information is regarded as one of an important issue in GiS and remote sensing fields. 3D GIS is considered with the database issues such as handling and managing of 3D geometry/topology attributes, whereas 3D visualization is basically concerned with 3D computer graphics. This study focused on the design and implementation for the OpenGL API-based rendering system for the complex types of 3D geo-spatial features. In this approach 3D features can be separately processed with the functions of authoring and manipulation of terrain segments, building segments, road segments, and other geo-based things with texture mapping. Using this implementation, it is possible to the generation of an integrated scene with these complex types of 3D features. This integrated rendering system based on the feature-based 3D-GIS model can be extended and effectively applied to urban environment analysis, 3D virtual simulation and fly-by navigation in urban planning. Furthermore, we expect that 3D-GIS visualization application based on OpenGL API can be easily extended into a real-time mobile 3D-GIS system, soon after the release of OpenGLIES which stands for OpenGL for embedded system, though this topic is beyond the scope of this implementation.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.12
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• pp.87-98
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• 1999

This study is concentrated on the development of real-time estimation model and vision control method as well as the experimental test. The proposed method permits a kind of adaptability not otherwise available in that the relationship between the camera-space location of manipulable visual cues and the vector of manipulator joint coordinates is estimate in real time. This is done based on a estimation model ta\hat generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation as well as uncertainty of manipulator. This vision control method is roboust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the manipulator, and correct knowledge of position and orientation of CCD camera with respect to the manipulator base. Finally, evidence of the ability of real-time vision control method for manipulator's position control is provided by performing the thin-rod placement in space with 2 cues test model which is completed without a prior knowledge of camera or manipulator positions. This feature opens the door to a range of applications of manipulation, including a mobile manipulator with stationary cameras tracking and providing information for control of the manipulator event.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1777-1778
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• 2007

In this paper, We design and implement a humanoid robot, With Educational purpose, which can collaborate and communicate with human. We present an affective human-robot communication system for a humanoid robot, D2, which we designed to communicate with a human through dialogue. D2 communicates with humans by understanding and expressing emotion using facial expressions, voice, gestures and posture. Interaction between a human and a robot is made possible through our affective communication framework. The framework enables a robot to catch the emotional status of the user and to respond appropriately. As a result, the robot can engage in a natural dialogue with a human. According to the aim to be interacted with a human for voice, gestures and posture, the developed Educational humanoid robot consists of upper body, two arms, wheeled mobile platform and control hardware including vision and speech capability and various control boards such as motion control boards, signal processing board proceeding several types of sensors. Using the Educational humanoid robot D2, we have presented the successful demonstrations which consist of manipulation task with two arms, tracking objects using the vision system, and communication with human by the emotional interface, the synthesized speeches, and the recognition of speech commands.

• Korean Journal of Remote Sensing
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• v.23 no.5
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• pp.401-408
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• 2007

Animated anaglyph is the most cost-effective method for 3D stereo visualization of virtual or actual 3D geo-based data model. Unlike 3D anaglyph scene generation using paired epipolar images, the main data sets of this study is the multi-typed 3D feature model containing 3D shaped objects, DEM and satellite imagery. For this purpose, a prototype implementation for 3D animated anaglyph using OpenGL API is carried out, and virtual 3D feature modeling is performed to demonstrate the applicability of this anaglyph approach. Although 3D features are not real objects in this stage, these can be substituted with actual 3D feature model with full texture images along all facades. Currently, it is regarded as the special viewing effect within 3D GIS application domains, because just stereo 3D viewing is a part of lots of GIS functionalities or remote sensing image processing modules. Animated anaglyph process can be linked with real-time manipulation process of 3D feature model and its database attributes in real world problem. As well, this approach of feature-based 3D animated anaglyph scheme is a bridging technology to further image-based 3D animated anaglyph rendering system, portable mobile 3D stereo viewing system or auto-stereo viewing system without glasses for multi-viewers.

• IEMEK Journal of Embedded Systems and Applications
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• v.19 no.2
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• pp.73-81
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• 2024

Recently, mobile manipulators have been utilized in agriculture industry for weed removal and harvest automation. This paper proposes a domain adaptive fruit detection method for harvest automation, by utilizing OWL-ViT model which is an open-vocabulary object detection model. The vision-language model can detect objects based on text prompt, and therefore, it can be extended to detect objects of undefined categories. In the development of deep learning models for real-world problems, constructing a large-scale labeled dataset is a time-consuming task and heavily relies on human effort. To reduce the labor-intensive workload, we utilized a large-scale public dataset as a source domain data and employed a domain adaptation method. Adversarial learning was conducted between a domain discriminator and feature extractor to reduce the gap between the distribution of feature vectors from the source domain and our target domain data. We collected a target domain dataset in a real-like environment and conducted experiments to demonstrate the effectiveness of the proposed method. In experiments, the domain adaptation method improved the AP50 metric from 38.88% to 78.59% for detecting objects within the range of 2m, and we achieved 81.7% of manipulation success rate.

• The Journal of the Korea Contents Association
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• v.15 no.6
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• pp.33-42
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• 2015

As smart phones have been increasingly used to access information with bigger screens and higher resolution, smart phones have rapidly grown larger. Even Apple which had stuck to the 4-inch smart phone screen size, released 5.5-inch iPhone 6 plus. In this trend of smart phone enlargement, manufacturers have mostly incorporated one-handed modes to 5-inch or larger phones to keep the convenience of one-handed operation. But most of them provide just smaller screens and are rather complicated to set up after several menus to touch. In this study, this research examined one-handed functions of each smart phone manufacturer to understand problems in the one-handed smart-phone manipulation of web-browsing which is one of the frequent smart phone services. And by investigating smart phone users, this research found out requirements for one-handed web search operation. Based on this examination, the author of this research designed an efficient one-handed interface for mobile web-search without reducing the screen size. Then, to assess the possible usability improvement, the prototype was applied to a large 5.5-inch-screen smart phone to evaluate its performance through observation and surveys and find out manipulation satisfaction and further improvements.

• Journal of Game and Entertainment
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• v.2 no.1
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• pp.1-7
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• 2006

While numerous On off-line and mobile games have been released in our domestic game market annually, the release of mechanic games in our domestic game market is merely a minority. The marketability of robot-typed mechanic game among our domestic game markets has net been widened. What are the reasons that the robot-typed mechanic game in our domestic games has not been expanded in terms of its users? The purpose of this study is to figure out the reasons why there have been few demands and manufactures of robot-typed mechanic games in domestic market. This study investigate the present conditions of robot-typed mechanic games released domestically and internationally and the reasons for game users' avoiding them through the ranking of sale and popularity. In addition, it analyze three biggest causes such as the absence of planning capability, cultural exclusivism against robots and difficulties in manipulation. Lastly, the study investigate the necessity and importance of robot-typed mechanic games in domestic markets.

• The Journal of the Korea Contents Association
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• v.9 no.3
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• pp.99-107
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• 2009

As the information and the network technology are improved, the system which can express the interactions between the individuals becomes to play more important roles in these days. In fact, that tendency is especially well shown in the community area of P2P and social network service programs. This paper suggest an intelligent character manipulation system which can be effectively used to express emotional representation in an intelligent way in spite of many constraints. The system employs an emotion searching mechanism by attaching emotional information to each object in the database and defining a function of emotional similarity. It is expected that the system can be successfully used not only to find and represent the suitable emotional character representations but also to provide brand new services in the area of mobile platform based contents.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.3
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• pp.191-204
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• 2014

In recent years, multi-camera systems have been recognized as an affordable alternative for the collection of 3D spatial data from physical surfaces. The collected data can be applied for different mapping(e.g., mobile mapping and mapping inaccessible locations)or metrology applications (e.g., industrial, biomedical, and architectural). In order to fully exploit the potential accuracy of these systems and ensure successful manipulation of the involved cameras, a careful system calibration should be performed prior to the data collection procedure. The calibration of a multi-camera system is accomplished when the individual cameras are calibrated and the geometric relationships among the different system components are defined. In this paper, a new single-step approach is introduced for the calibration of a multi-camera system (i.e., individual camera calibration and estimation of the lever-arm and boresight angles among the system components). In this approach, one of the cameras is set as the reference camera and the system mounting parameters are defined relative to that reference camera. The proposed approach is easy to implement and computationally efficient. The major advantage of this method, when compared to available multi-camera system calibration approaches, is the flexibility of being applied for either directly or indirectly geo-referenced multi-camera systems. The feasibility of the proposed approach is verified through experimental results using real data collected by a newly-developed indirectly geo-referenced multi-camera system.

• The KIPS Transactions:PartA
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• v.16A no.2
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• pp.89-100
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• 2009

With the advance in digital technologies and the increasing prevalence of high quality multimedia contents, there is a growing user demand for multimedia devices, such as mobile phones, digital TV, PMP, digital camcoders, digital cameras. Such devices provide various services associated with multimedia file manipulation, including multimedia contents playback, multimedia file editing, etc. Conventional file systems exhibit a performance-related drawback that requires considerable amount of time and disk I/Os in order to store large-sized edited multimedia files. This paper proposes a fast, efficient writing technique for large-sized edited multimedia files by using data block sharing with adjustment of inode block pointers. Our experiments show that the proposed scheme not only improves write performance of the Ext3 file system on average by 16 times with various types of edited multimedia files, but also reduces consumed disk space dramatically through the data block sharing.