• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.11
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• pp.3789-3809
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• 2014

Radio environment maps (REMs) and geolocation database represent an important source of information for the operation of cognitive radio networks, replacing or complementing spectrum sensing information. This paper provides a survey of methods for constructing the radio frequency layer of radio environment map (RF-REM) using distributed measurements of the signal levels at a given frequency in space and time. The signal level measurements can be obtained from fixed or mobile devices capable of sensing radio environment and sending this information to the REM. The signal measurements are complemented with information already stored in different REM content layers. The combined information is applied for estimation of the RF-REM layer. The RF-REM construction methods are compared, and their advantages and disadvantages with respect to the spatial distribution of signal measurements and computational complexity is given. This survey also indicates possible directions of further research in indirect RF-REM construction methods. It emphasizes that accurate RF-REM construction methods should in the best case support operation with random and clustered signal measurements, their operation should not be affected by measurements outliers, and it must estimate signal levels comparably on all RF-REM locations with moderate computational effort.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.634-640
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• 2015

This paper proposes a novel three-dimensional mapping algorithm in Omni-Directional Vision SLAM based on a fisheye image and laser scanner data. The performance of SLAM has been improved by various estimation methods, sensors with multiple functions, or sensor fusion. Conventional 3D SLAM approaches which mainly employed RGB-D cameras to obtain depth information are not suitable for mobile robot applications because RGB-D camera system with multiple cameras have a greater size and slow processing time for the calculation of the depth information for omni-directional images. In this paper, we used a fisheye camera installed facing downwards and a two-dimensional laser scanner separate from the camera at a constant distance. We calculated fusion points from the plane coordinates of obstacles obtained by the information of the two-dimensional laser scanner and the outline of obstacles obtained by the omni-directional image sensor that can acquire surround view at the same time. The effectiveness of the proposed method is confirmed through comparison between maps obtained using the proposed algorithm and real maps.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.16 no.3
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• pp.757-770
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• 2022

Palmprint recognition has drawn increasingly attentions in the past decade due to its uniqueness and reliability. Traditional palmprint recognition methods usually use high-resolution images as the identification basis so that they can achieve relatively high precision. However, high-resolution images mean more computation cost in the recognition process, which usually cannot be guaranteed in mobile computing. Therefore, this paper proposes an improved low-resolution palmprint image recognition method based on residual networks. The main contributions include: 1) We introduce a channel attention mechanism to refactor the extracted feature maps, which can pay more attention to the informative feature maps and suppress the useless ones. 2) The ResStage group structure proposed by us divides the original residual block into three stages, and we stabilize the signal characteristics before each stage by means of BN normalization operation to enhance the feature channel. Comparison experiments are conducted on a public dataset provided by the Hong Kong Polytechnic University. Experimental results show that the proposed method achieve a rank-1 accuracy of 98.17% when tested on low-resolution images with the size of 12dpi, which outperforms all the compared methods obviously.

• Journal of Korean Society for Geospatial Information Science
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• v.13 no.3 s.33
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• pp.79-85
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• 2005

Early, national basic topographical map has been represented, stored, supplied in form of DXF(Data eXchange Format) and present digital map is equipped as over form. Since many parts of digital map has been equipped newly to use early digital map form for geographic information system. Especially, many structural editing and geographical search are demanded to exclude geometric inconsistency and logical inconsistency included in the existing digital map. As above, DXF is unsuitable data format to use in geographic information system. For the sake of efficient format, Digital Map Ver. 2.0 that is new map format was developed. In this study, we developed the Mobile Viewer program development which can let us see immediately the digital maps produced in the form of Digital Map Ver. 2.0.

• The KIPS Transactions:PartC
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• v.13C no.3 s.106
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• pp.383-388
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• 2006

Most of GIS services have been operated in single applications, and as data processing and computer and mobile technologies have developed rapidly, users request for efficient sharing between each GIS's own data and various different GIS's. However, since many GIS applications maintain their own data formats, they are incapable of processing data formats different with each other, and do not have a filtering function for mobile GIS. This paper designs an integrated preprocessor, SMP to accept features of various current formats of geographic information such as DXF(Drawing eXchange Format), DWG(DraWinG), SHP(SHaPefile), etc., and to extract core information for describing maps. The geographic information extracted by SMP(Synthetic Map Preprocessor) shows consistency in various formats by visualizing through the integrated view. By generating the extracted core data in GML, it supports rapid access to mobile devices and extensibility of file formats overcoming heterogeneity.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.12
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• pp.1835-1845
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• 2021

To accurately identify black ice and warn the drivers of information in advance so they can control speed and take preventive measures. In this paper, we propose a lightweight black ice detection network based on infrared road images. A black ice recognition network model based on CNN transfer learning has been developed. Additionally, to further improve the accuracy of black ice recognition, an enhanced lightweight network based on MobileNetV2 has been developed. To reduce the amount of calculation, linear bottlenecks and inverse residuals was used, and four bottleneck groups were used. At the same time, to improve the recognition rate of the model, each bottleneck group was connected to a 3×3 convolutional layer to enhance regional feature extraction and increase the number of feature maps. Finally, a black ice recognition experiment was performed on the constructed infrared road black ice dataset. The network model proposed in this paper had an accurate recognition rate of 99.07% for black ice.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.36 no.2
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• pp.67-74
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• 2018

This study has proposed a methodology to detect suspicious facilities that occupy national and public land by using the cadastral and digital maps. First, we constructed a spatial database of national & public land based on the cadastral maps by linking its management ledger. Using the PNU (Parcel Number) code as a key field, the data managed by different institutions are integrated into a single spatial information DB (database) and then, the use or nonuse state of each parcel is confirmed on the cadastral map. Next, we explored the suspicious facilities that existed in the unused parcel by utilizing the digital topographical map. Then, the proposed methodology was applied for various regions and tested its feasibility. Through this study, it will be possible to improve the utilization of digital maps and to manage the national and public land efficiently and economically.

• Journal of the Korean Association of Geographic Information Studies
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• v.24 no.2
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• pp.102-116
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• 2021

For the safe operation of autonomous vehicles, the representative technology of the 4^th industrial revolution era, a combination of various technologies such as sensor technology, software technology and car technology is required. An autonomous vehicle is a vehicle that recognizes current location and situation by using the various sensors, and makes its own decisions without depending on the driver. Perfect recognition technology is required for fully autonomous driving. Since the precise road maps provide various road information including lanes, stop lines, traffic lights and crosswalks, it is possible to minimize the cognitive errors that occur in autonomous vehicles by using the precise road maps with location information of the road facilities. In this study, the definition, necessity and technical trends of the precise road map have been analyzed, and the HD(High Definition) map prototype based on the web GIS has been built in the autonomous driving-specialized areas of Daegu Metropolitan City(Suseong Medical District, about 24km), the Happy City of Sejong Special Self-Governing City(about 33km), and the FMTC(Future Mobility Technical Center) PG(Proving Ground) of Seoul National University Siheung Campus using the MMS(Mobile Mapping System) surveying results given by the National Geographic Information Institute. In future research, the built-in precise road map service will be installed in the autonomous vehicles and control systems to verify the real-time locations and its location correction algorithm.

• Journal of the Korea Society of Computer and Information
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• v.18 no.4
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• pp.27-34
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• 2013

Mobile robot has the exploration function in order to perform its own task. Robot exploration can be used in many applications such as surveillance, rescue and resource detection. The workspace that robots performed in was complicated or quite wide, the multi search using the several mobile robots was mainly used. In this paper, we proposed a scheme that all areas are searched for by using one robot. The method to be proposed extract a area that can be explored in the workspace then the robot investigates the area and updates the map at the same time. The explored area is saved as a hybrid map that combines the nice attributes of the grid and topological maps. The robot can produce the safe navigation route without the obstacles by using hybrid map. The proposed hybrid map uses less memory than a grid map, but it can be used for complete coverage with the same efficiency of a topological map. Experimental results show that the proposed scheme can generate a map of an environment with only 6% of the memory that a grid map requires.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.783-788
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• 2003

In this paper, we present a new approach to detect and recognize human face in the image from vision camera equipped on the mobile robot platform. Due to the mobility of camera platform, obtained facial image is small and pose-various. For this condition, new algorithm should cope with these constraints and can detect and recognize face in nearly real time. In detection step, ‘coarse to fine’ detection strategy is used. Firstly, region boundary including face is roughly located by dual ellipse templates of facial color and on this region, the locations of three main facial features- two eyes and mouth-are estimated. For this, simplified facial feature maps using characteristic chrominance are made out and candidate pixels are segmented as eye or mouth pixels group. These candidate facial features are verified whether the length and orientation of feature pairs are suitable for face geometry. In recognition step, pseudo-convex hull area of gray face image is defined which area includes feature triangle connecting two eyes and mouth. And random lattice line set are composed and laid on this convex hull area, and then 2D appearance of this area is represented. From these procedures, facial information of detected face is obtained and face DB images are similarly processed for each person class. Based on facial information of these areas, distance measure of match of lattice lines is calculated and face image is recognized using this measure as a classifier. This proposed detection and recognition algorithms overcome the constraints of previous approach [15], make real-time face detection and recognition possible, and guarantee the correct recognition irregardless of some pose variation of face. The usefulness at mobile robot application is demonstrated.