• Title/Summary/Keyword: Navigation feature

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Robust Vision-Based Autonomous Navigation Against Environment Changes (환경 변화에 강인한 비전 기반 로봇 자율 주행)

  • Kim, Jungho;Kweon, In So
    • IEMEK Journal of Embedded Systems and Applications
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    • v.3 no.2
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    • pp.57-65
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    • 2008
  • Recently many researches on intelligent robots have been studied. An intelligent robot is capable of recognizing environments or objects to autonomously perform specific tasks using sensor readings. One of fundamental problems in vision-based robot applications is to recognize where it is and to decide safe path to perform autonomous navigation. However, previous approaches only consider well-organized environments that there is no moving object and environment changes. In this paper, we introduce a novel navigation strategy to handle occlusions caused by moving objects using various computer vision techniques. Experimental results demonstrate the capability to overcome such difficulties for autonomous navigation.

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Galileo BOC(1,1) Signal Tracking using GPS/Galileo Software Receiver

  • Lim, Deok-Won;Park, Chan-Sik;Lee, Sang-Jeong
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • v.2
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    • pp.285-289
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    • 2006
  • In this paper, a design and implementation of GPS/Galileo software receiver is given. As a GPS receiver, it is able to perform every function of receiver such as acquisition, code and carrier tracking, navigation bit extraction, navigation data decoding, pseudorange calculations, and position calculations. A method to acquire and track the Galileo BOC(1,1) signal is also required because the correlation of BOC(1,1) signal has multiple peaks different from that of GPS signal. Therefore, a method to detect the main-peak in correlation function of BOC signal is required to avoid false acquisition. In this paper, very-early, very late correlation is implemented to track the correct main peak. The performance of implemented GPS/Galileo software receiver with BOC(1,1) signal tracking feature is evaluated with GPS/Galileo IF signal generator.

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A Study on the Insurer's Excluded Risks in Cargo Insurance (積荷保險에 있어서 保險者의 免責危險에 관한 硏究)

  • 김형근
    • Journal of the Korean Institute of Navigation
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    • v.15 no.3
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    • pp.53-72
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    • 1991
  • The marine cargo insurance compensates the cargo losses that happened during navigation . at the early days of the marine insurance, the insurer inclusively covered all risks that happended during navigation. But since the feature of the risks have been changed due to the development of the shipbuilding technique and commerce, the insurer could not bear all of the perils inclusively. So, the insurer have taken the limitation of the risks insured and the losses paid by exclusion clauses. Therefore, the purpose ;of this paper is to compare the exclusion clauses in the new Institute Cargo Clause (hereafter I.C.C.) with those in the former I.C.C.(all risks, F.P.A) and to make clear the scope of insurer's liability through the theoretical interpretation, clarification of various excluded risks in laws and clauses relating to marine cargo insurance. From what 1 mentioned above, 1 conclude that through continued study on the exclusion sin the new I.C.C., we should organize and establish a system which will satisfy both underwriters and the assured in making the application and the effectiveness equal for each party.

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Design and Consideration of Aids to Navigation service platform (항로표지 서비스 플랫폼 설계 및 고려 사항)

  • Gyeong-Min Jo;Tae-Hee Kim
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • 2023.05a
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    • pp.301-302
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    • 2023
  • A service platform was designed to provide smart aids to navigation services with the standardized format and to manage user authentication and access rights. To meet the requirements of the service platform, Keycloak, an open source OIDC implementation, was used for user authentication, and the S-100 feature catalogue versioning method was used for service management. To standardize internal service data to S-100, we designed a minimum standard format for mapping internal service data to S-100 data using JSON Schema.

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Robust Global Localization based on Environment map through Sensor Fusion (센서 융합을 통한 환경지도 기반의 강인한 전역 위치추정)

  • Jung, Min-Kuk;Song, Jae-Bok
    • The Journal of Korea Robotics Society
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    • v.9 no.2
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    • pp.96-103
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    • 2014
  • Global localization is one of the essential issues for mobile robot navigation. In this study, an indoor global localization method is proposed which uses a Kinect sensor and a monocular upward-looking camera. The proposed method generates an environment map which consists of a grid map, a ceiling feature map from the upward-looking camera, and a spatial feature map obtained from the Kinect sensor. The method selects robot pose candidates using the spatial feature map and updates sample poses by particle filter based on the grid map. Localization success is determined by calculating the matching error from the ceiling feature map. In various experiments, the proposed method achieved a position accuracy of 0.12m and a position update speed of 10.4s, which is robust enough for real-world applications.

A New Navigation/Traveling Method in Virtual Environment (가상공간에서 새로운 이동기법에 관한 연구)

  • 권태욱;최윤철
    • Journal of Korea Multimedia Society
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    • v.3 no.3
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    • pp.224-233
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    • 2000
  • An important feature of virtual reality is the facility for the user to move around a virtual environment in a natural and easily controlled manner, Navigation. Navigation involves changing the perspective of the user in the virtual environment (VE). Natural locomotion methods are able to contribute to a sense of presence and reality. This paper focuses on the navigation method in the virtual environment, one of the major interfaces for the interactivity between human and virtual environments in virtual reality circumstances and worlds. It proposes a new navigation method: Intelligent Cruise-Control Navigation (ICCN), which provides a natural and user-centered navigation method in virtual environment and can improve the reality and the presence. Intelligent Cruise-Control Navigation is composed of three major phases: Constant Velocity Navigation, Collision Detection and Avoidance, and Path Adjustment. The ICCN can reduce the user's fatigue and improve the user's presence and reality in the virtual environment. Through the experimental study it has been determined that the ICCN will be a natural, straightforward, and useful interface in VE.

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Simulator of Underwater Navigation

  • Waz, Mariusz
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • v.1
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    • pp.333-335
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    • 2006
  • Position of surface objects can be fixed in many ways. The most popular radionavigational systems, including satellite systems, make possible obtaining nearly continuous and very precise ship's position. However, under the water application of radionavigational systems is impossible. Underwater navigation requires other tools and solutions then these encountered in surface and air navigation. In underwater environment vehicles and submarines, operate that have to possess alternative navigational systems. Underwater vehicles, in order to perform their tasks require accurate information about their own, current position. At present, they are equipped with inertial navigational systems (INS). Accuracy of INS is very high but in relatively short periods. Position error is directly proportional to time of working of the system. The basic feature of INS is its autonomy and passivity. This characteristic mainly decides that INS is broadly used on submarines and other underwater vehicles. However, due to previously mentioned shortcoming i.e. gradually increasing position error, periodical calibration of the system is necessary. The simplest calibration method is surface or nearly surface application of GPS system. Another solution, which does not require interruption of performed task and emergence on the surface, is application of comparative navigation technique. Information about surrounding environment of the ship, obtained e.g. by means sonic depth finder or board sonar, and comparing it with accessible pattern can be used in order to fix ship's position. The article presents a structure and a description of working of underwater vehicle navigation system simulator. The simulator works on the basis of comparative navigation methods which exploit in turn digital images of echograms and sonograms. The additional option of the simulator is ability to robust estimation of measurements. One can do it in order to increase accuracy of position fixed with comparative navigation methods application. The simulator can be a basis to build future underwater navigation system.

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Observability Analysis of a Vision-INS Integrated Navigation System Using Landmark (비전센서와 INS 기반의 항법 시스템 구현 시 랜드마크 사용에 따른 가관측성 분석)

  • Won, Dae-Hee;Chun, Se-Bum;Sung, Sang-Kyung;Cho, Jin-Soo;Lee, Young-Jae
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.38 no.3
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    • pp.236-242
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    • 2010
  • A GNSS/INS integration system can not provide navigation solutions if there are no available satellites. To overcome this problem, a vision sensor is integrated with this system. Since generally a vision aided integration system uses only feature point to compute navigation solutions, it has a problem in observability. In this case, additional landmarks, which is priory known points, can improve the observability. In this paper, the observability is evaluated using TOM/SOM matrix and Eigenvalues. There are always the observability problems in the feature-point-only case, but the landmark-use case is fully observable after the $2^{nd}$ update time. Consequently the landmarks ensure full observability, so the system performance can be improved.

Development of MATLAB GUI-based Software for Performance Analysis of RNSS Navigation Message and WAD-RNSS Correction (지역 위성항법시스템 항법메시지 및 광역 보정정보 성능 분석을 위한 MATLAB GUI 기반 소프트웨어 개발)

  • Jaeuk Park;Bu-Gyeom Kim;Changdon Kee;Donguk Kim
    • Journal of Advanced Navigation Technology
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    • v.27 no.5
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    • pp.510-518
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    • 2023
  • This paper introduces a MATLAB graphical user interface (GUI) based software for performance analysis of navigation message and wide area differential correction of regional navigation satellite system (RNSS). This software was developed to analyze satellite orbit/clock-related performance of navigation message and wide area differential correction simulating RNSS for regions near Korea based on different distributions of monitor and reference stations. As a result of software operation, navigation message and wide area differential correction are given as output in MATLAB file format. From the analysis of output, it was confirmed that valid navigation message and wide area differential correction could be generated from the results about statistical feature of orbit and clock prediction errors, cm-level fitting errors for navigation message parameters, and 81.9% enhancement in range error for wide area differential correction.

A Hybrid of Smartphone Camera and Basestation Wide-area Indoor Positioning Method

  • Jiao, Jichao;Deng, Zhongliang;Xu, Lianming;Li, Fei
    • KSII Transactions on Internet and Information Systems (TIIS)
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    • v.10 no.2
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    • pp.723-743
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    • 2016
  • Indoor positioning is considered an enabler for a variety of applications, the demand for an indoor positioning service has also been accelerated. That is because that people spend most of their time indoor environment. Meanwhile, the smartphone integrated powerful camera is an efficient platform for navigation and positioning. However, for high accuracy indoor positioning by using a smartphone, there are two constraints that includes: (1) limited computational and memory resources of smartphone; (2) users' moving in large buildings. To address those issues, this paper uses the TC-OFDM for calculating the coarse positioning information includes horizontal and altitude information for assisting smartphone camera-based positioning. Moreover, a unified representation model of image features under variety of scenarios whose name is FAST-SURF is established for computing the fine location. Finally, an optimization marginalized particle filter is proposed for fusing the positioning information from TC-OFDM and images. The experimental result shows that the wide location detection accuracy is 0.823 m (1σ) at horizontal and 0.5 m at vertical. Comparing to the WiFi-based and ibeacon-based positioning methods, our method is powerful while being easy to be deployed and optimized.