• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.385-394
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• 2017

Side scanning sonar (SSS) provides valuable information for robot navigation. However using the side scanning sonar images in the navigation was not fully studied. In this paper, we use range data, and side scanning sonar images from UnderWater Simulator (UWSim) and propose measurement models in a feature based simultaneous localization and mapping (SLAM) framework. The range data is obtained by echosounder and sidescanning sonar images from side scan sonar module for UWSim. For the feature, we used the A-KAZE feature for the SSS image matching and adjusting the relative robot pose by SSS bundle adjustment (BA) with Ceres solver. We use BA for the loop closure constraint of pose-graph SLAM. We used the Incremental Smoothing and Mapping (iSAM) to optimize the graph. The optimized trajectory was compared against the dead reckoning (DR).

• Journal of Navigation and Port Research
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• v.28 no.1
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• pp.91-96
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• 2004

Although features, core element of marine GIS in many application, are same things users have difficulty in using them on account of varying according to method of classification. Accordingly feature cataloguing in accordance with the standard is the trend of the modem world. In this article we have became familiar with ISO 19110 - Methodology for Feature Cataloguing, we was able to discuss element and definition of features for the purpose of Marine GIS's activation. Through the result of study, we presented the methodology of Marine GIS feature cataloguing.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2014.10a
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• pp.245-246
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• 2014

This paper suggests the navigation information display system which is based on augmented reality technology and especially focuses on image analysis technology. Navigator has to always confirm the information from marine electronic navigation devices and then they compare with the view of outside targets of the windows. During this 'head down' posture, they feel uncomfortable and sometimes it cause near-accidents such as collision or missing objects, because he or she cannot keep an eye on the front view of windows. Augmented reality can display both of information of virtual and real in a single display. Therefore we tried to adapt the AR technology to help navigators and have been studied and developed image pre-processing module as a previous research already. To analysis the outside view of the bridge window, we have extracted navigational information from the camera image by using image processing. This paper mainly describes about recognizing ship feature by haar-like feature and filtering region of interest area by AIS data, which are to improve accuracy of the image analysis.

• Journal of Advanced Navigation Technology
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• v.12 no.4
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• pp.372-377
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• 2008

This paper proposes a new query-based document summarization method using the semantic feature matrix and the semantic variable matrix. The proposed method doesn't need the training phase using training data comprising queries and query specific documents. And it exactly summarizes documents for the given query by using semantic features and semantic variables that is better at identifying sub-topics of document. Because the NMF have a great power to naturally extract semantic features representing the inherent structure of a document. The experimental results show that the proposed method achieves better performance than other methods.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.8
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• pp.759-766
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• 2009

The purpose of this paper is an image processing algorithm development as a base research achieving performance enhancement of integrated navigation system. We used the SIFT (Scale Invariant Feature Transform) algorithm for image processing, and developed feature point matching filter for rejecting mismatched points. By applying the proposed algorithm, it is obtained better result than other methods of parameter tuning and KLT based feature point tracking. For further study, integration with INS and algorithm optimization for the real-time implementation are under investigation.

• Journal of Ocean Engineering and Technology
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• v.30 no.3
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• pp.214-220
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• 2016

Imaging sonars such as side-scanning sonar or forward-looking sonar are becoming fundamental sensors in the underwater robotics field. However, using sonar images for underwater perception presents many challenges. Sonar images are usually low resolution with inherent speckled noise. To overcome the limited sensor information for underwater perception, we investigated preprocessing methods for sonar images and feature detection methods for a nonlinear scale space. In this paper, we focus on a comparative analysis of (1) preprocessing for sonar images and (2) the feature detection performance in relation to the scale space composition.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.203-210
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• 2009

The problem of outdoor localization can be practically solved by GPS. However, GPS is not perfect and some areas of outdoor navigation should consider other solutions. This research deals with outdoor localization using an elevation map without GPS. This paper proposes a novel feature, elevation moment of inertia (EMOI), which represents the distribution of elevation as a function of distance from a robot in the elevation map. Each cell of an elevation map has its own EMOI, and outdoor localization can be performed by matching EMOIs obtained from the robot and the pre-given elevation map. The experiments and simulations show that the proposed EMOI can be usefully exploited for outdoor localization with an elevation map and this feature can be easily applied to other probabilistic approaches such as Markov localization method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.1607-1608
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• 2011

• Journal of Advanced Navigation Technology
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• v.13 no.1
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• pp.142-150
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• 2009

It is very important to generate a simplified model from a complex 3D character in computer game. We propose a new method of extracting feature lines from a 3D game character. Given an unstructured 3D character model containing texture information, we use model feature map (MFM), which is a 2D map that abstracts the variation of texture and curvature in the 3D character model. The MFM is created from both a texture map and a curvature map, which are produced separately by edge-detection to locate line features. The MFM can be edited interactively using standard image-processing tools. We demonstrate the technique on several data sets, including, but not limited to facial character.

• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.205-211
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• 2020

In this paper, we propose a modified ORB-SLAM (Oriented FAST and Rotated BRIEF Simultaneous Localization And Mapping) for precise indoor navigation of a mobile robot. The exact posture and position estimation by the ORB-SLAM is not possible all the times for the indoor navigation of a mobile robot when there are not enough features in the environment. To overcome this shortcoming, additional IMU (Inertial Measurement Unit) and encoder sensors were installed and utilized to calibrate the ORB-SLAM. By fusing the global information acquired by the SLAM and the dynamic local location information of the IMU and the encoder sensors, the mobile robot can be obtained the precise navigation information in the indoor environment with few feature points. The superiority of the modified ORB-SLAM was verified to compared with the conventional algorithm by the real experiments of a mobile robot navigation in a corridor environment.