• Journal of Korea Multimedia Society
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• v.24 no.4
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• pp.538-549
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• 2021

In this paper, we introduce a technique for 360-degree panoramic video streaming with multiple virtual cameras in real-time. The proposed technique consists of generating 360-degree panoramic video data by ORB feature point detection, texture transformation, panoramic video data compression, and RTSP-based video streaming transmission. Especially, the generating process of 360-degree panoramic video data and texture transformation are accelerated by CUDA for complex processing such as camera calibration, stitching, blending, encoding. Our experiment evaluated the frames per second (fps) of the transmitted 360-degree panoramic video. Experimental results verified that our technique takes at least 30fps at 4K output resolution, which indicates that it can both generates and transmits 360-degree panoramic video data in real time.

• Journal of the Semiconductor & Display Technology
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• v.20 no.4
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• pp.96-101
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• 2021

The SLAM market is growing rapidly with advances in Machine Learning, Drones, Augmented Reality technologies. However, due to the absence of an open source-based SLAM library for developing AR content, most SLAM researchers are required to conduct their own research and development to customize SLAM. In this paper, we propose an opensource-based Mobile Markerless AR System by building our own pipeline based on Visual SLAM. To implement the Mobile AR System of this paper, it uses ORB-SLAM3 and Unity Engine and We experimented with running our system in a real environment and confirming it in the Unity Engine's Mobile Viewer. Through this experimentation, we can verify that the Unity Engine and the SLAM System are tightly integrated and communicate smoothly. Also, we expect to accelerate the growth of SLAM technology through this research.

• Journal of Species Research
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• v.10 no.4
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• pp.387-391
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• 2021

Araneidae Clerck, 1757 is one of the largest families within the order Araneae Clerck, 1757, comprising 3,065 species in 177 genera. To date, two species of the genus Mengora O. Pickard-Cambridge, 1889 and four species of the genus Araniella Chamberlin & Ivie, 1942 have been recorded in Korea. During a seasonal survey of the spider fauna in mountainous terrain conducted from 2018 to 2019, females of Mangora foliosa Zhu & Yin, 1998 and a male of Araniella robusta sp. nov. were collected with a sweep net between shrubs in mixed forests from Mt. Juwangsan National Park. In this paper, we provide a diagnosis of the new species and descriptions including measurements and morphological illustrations. The new species, Araniella robusta sp. nov., can be easily distinguished from other species in the genus Araniella Chamberlin & Ivie, 1942 by a branched conductor with two blunt tips and conjugation of the embolus tip and terminal apophysis.

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.66-71
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• 2023

As cameras have become primary sensors for mobile robots, vision based Simultaneous Localization and Mapping (SLAM) has achieved impressive results with the recent development of computer vision and deep learning. However, vision information has a disadvantage in that a lot of information disappears in a low-light environment. To overcome the problem, we propose an image enhancement method to perform visual SLAM in a low-light environment. Using the deep generative adversarial models and modified gamma correction, the quality of low-light images were improved. The proposed method is less sharp than the existing method, but it can be applied to ORB-SLAM in real time by dramatically reducing the amount of computation. The experimental results were able to prove the validity of the proposed method by applying to public Dataset TUM and VIVID++.

• Journal of Korea Spatial Information System Society
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• v.1 no.2 s.2
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• pp.47-62
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• 1999

To meet the interoperability requirements associated with geospatial data access and geoprocessing, much efforts to design prototypical systems conforming to $OpenGIS^{TM}$ specification has been made. With respect to Object Web GIS, however, current internet mapping technology mainly focuses on either developing mapping libraries or client applications regardless of the future needs for interoperability such as an integration of $OpenGIS^{TM}$ standard for CORBA. In this paper, we propose an $OpenGIS^{TM}$ compliant mapping kernel. OpenViews, which is designed to meet those requirements. The kernel of OpenViews encapsulates the process of acquiring geospatial data in the format of $OpenGIS^{TM}$ Geometry through ORB(Object Request Broker). OpenViews, being designed based on well-known design patterns, is a highly extensible in that programmers can easily customize it on the object oriented architecture. The components implemented in OpenViews are CORBA/Java objects, and as such are portable and scalable in a networked environment. A companion package, OpenBroker, is also developed as a portable geoprocessing application server to facilitate the implementation and configuration of server side CORBA objects. It can be used for implementing objects for spatial analysis service which would be independent of legacy spatial database systems in many cases. OpenViews, together with OpenBroker, has been successfully prototyped using the technologies including EJB and servlet as the core components of an Open GIS compliant internet mapping.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.40 no.4
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• pp.437-444
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• 2020

A lunar rover's optical camera is used to provide navigation and terrain information in an exploration zone. However, due to the scant presence of atmosphere, the Moon has homogeneous terrain with dark soil. Also, in extreme environments, the rover has limited data storage with low computation capability. Thus, for successful exploration, it is required to examine feature detection and matching methods which are robust to lunar terrain and environmental characteristics. In this research, SIFT, SURF, BRISK, ORB, and AKAZE are comparatively analyzed with lunar terrain images from a lunar rover. Experimental results show that SIFT and AKAZE are most robust for lunar terrain characteristics. AKAZE detects less quantity of feature points than SIFT, but feature points are detected and matched with high precision and the least computational cost. AKAZE is adequate for fast and accurate navigation information. Although SIFT has the highest computational cost, the largest quantity of feature points are stably detected and matched. The rover periodically sends terrain images to Earth. Thus, SIFT is suitable for global 3D terrain map construction in that a large amount of terrain images can be processed on Earth. Study results are expected to provide a guideline to utilize feature detection and matching methods for future lunar exploration rovers.

• The Korean Journal of Zoology
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• v.32 no.3
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• pp.211-220
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• 1989

The fine structure of the aggregate glands-one of the capture thread producing organs-in the orb web spider, Nephila clavata L.Koch, is studied with light and electron microscopes. Gluey capture threads or sticky spirals of the orb web are originated from the silks of two flagelliform glands and four aggregate glands which are connected to the posterior spinnerets, and the arrangement fo their spigots(large spinning tubes) shows a charaterstic form called "triad". The aggregate galnd is composed of large and multilobed secretory portion and thick excretory duct surrounded by large irregular nodules. The excretory duct of the aggregate galnds basically consists of three superposed types of cells which are inner columnar epithelium, nodule-forming cells and outer connestives. The cuticles of the proximal duct near the secretory portion are composed of endocuticle and exocuticle, whereas ghe distal duct near the spinning tubes has a electron lucent subcuticle which had the functions of water removal and orientation of silk fibers. In the cytoplasmic process of the large and irregular nodule-forming cells surrounded by invaginations of the plasma membranes, numerous mitochondria and glycogen particles are contained. The maturational level of the nodule cells is perceived from the appearence of these cell inclusions. The secretory portion of the glands which porduce the secretory silk material shows two layers of the cells which are simple cuboidal epithelium and several connective layers. In the cytoplasm of the glandular epithelial cell, rough endoplasmic reticulums are well developed, and two types of secretory granules are observed. Between the adjacent epithelial cells, specialized septate junctions are formed along the plasma membranes.membranes.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.37
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• pp.33.1-33.9
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• 2015

Background: The porion (Po) is used to construct the Frankfort horizontal (FH) plane for cephalometrics, and the external auditory meatus (EAM) is to transfer and mount the dental model with facebow. The classical assumption is that EAM represents Po by the parallel positioning. However, we are sometimes questioning about the possible positional disparity between Po and EAM, when the occlusal cant or facial midline is different from our clinical understandings. The purpose of this study was to evaluate the positional parallelism of Po and EAM in facial asymmetries, and also to investigate their relationship with the maxillary occlusal cant. Methods: The 67 subjects were classified into three groups. Group I had normal subjects with facial symmetry ($1.05{\pm}0.52mm$ of average chin deviation) with minimal occlusal cant (<1.5 mm). Asymmetry group II-A had no maxillary occlusal cant (average $0.60{\pm}0.36$), while asymmetry group II-B had occlusal cant (average $3.72{\pm}1.47$). The distances of bilateral Po, EAM, and mesiobuccal cusp tips of the maxillary first molars (Mx) from the horizontal orbital plane (Orb) and the coronal plane were measured on the three-dimensional computed tomographic images. Their right and left side distance discrepancies were calculated and statistically compared. Results: EAM was located 10.3 mm below and 2.3 mm anterior to Po in group I. The vertical distances from Po to EAM of both sides were significantly different in group II-B (p=0.001), while other groups were not. Interside discrepancy of the vertical distances from EAM to Mx in group II-B also showed the significant differences, as compared with those from Po to Mx and from Orb to Mx. Conclusions: The subjects with facial asymmetry and prominent maxillary occlusal cant tend to have the symmetric position of Po but asymmetric EAM. Some caution or other measures will be helpful for them to be used during the clinical procedures.

• Journal of Korean Ophthalmic Optics Society
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• v.19 no.1
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• pp.111-120
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• 2014

Purpose: This study was to investigate changes in the thickness of cornea, curvature of cornea, and aberration depending on the water contents, materials, and refractive power of contact lens. Methods: The differences in the corneal thickness between pre- and post-wearing the lenses were compared using 5 kinds of lenses. The changes in the corneal thickness, the curvatures of the anterior and posterior cornea, and high order aberration (HOA) before and after wearing the lenses were investigated at the center of the cornea, and the different distance and the direction away from the center of the cornea. For the equipments of measurement, ORB ScanII (Bausch & Lomb Inc, ver 3.14) was used to measure the corneal topography and thickness, and Zywave (Bausch & Lomb Inc, ver 5.20) was used to analyze the high order aberration. Results: Five (S1, S2, S3, T1, T2) of the lens was used for this study, excluding the lens T2 lens has four lenses and the thickness of the corneal shape, but the impact is minimal. In the case of the hydrogel soft contact lenses (T2 lens) with low oxygen permeability, the corneal thickness showed distinct increasing patterns. The high order aberration and coma aberration were most changed in the silicon hydrogel toric lens, while the depth of anterior was most changed in the hydrogel toric lens. Conclusion: Among the 5 kinds of contact lenses with different water contents, materials, and refractive power used for this study, the corneal shape change was small for the lenses with an oxygen permeability (Dk) of more than 28, and the largest for the lenses with a very low oxygen permeability.

• Korean journal of applied entomology
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• v.59 no.3
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• pp.209-215
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• 2020

Debates over the ecological and public health impacts of aerial pesticide sprays are increasing. This is particularly true for controlling Monochamus beetles, which are vector insects of pinewood nematodes. In 2017, adult female orb-web spiders, Trichonephila clavata, were sampled from pine forests in Yangsan-si, Gyeongsangnam-do, Korea, where the aerial pesticide spray, fenitrothion or thiacloprid, was used for several decades. The biological traits of the spiders (body weight, body length, carapace width, and total hind leg length) were compared among treatment sites (no-spray, sprayed three times, and sprayed five times), and differences were observed. The body length, carapace width, and total hind leg length of the spiders in the sprayed areas were significantly shorter than in the no-spray area, but there were no differences between the area sprayed three or five times. These results indicate that repeated exposures to an aerial pesticide spray can alter morphological parameters, which influences population-level fitness. Future studies should monitor the spider long-term responses to pesticides (a direct effect) and prey availability (an indirect effect).