• Journal of the Korean Society of Industry Convergence
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• v.27 no.4_2
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• pp.825-832
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• 2024

Traditional cars have a structure that steers the front wheels to change their direction so they have difficulties in performing parking motion, especially in a narrow space. As electric vehicles developed, robotics technology especially omni-directional mobile robot technology began to be incorporated into the automobile field. Omni-directional mobility and special turning movements are particularly useful for parking cars. In this paper, we propose a four-wheeled mobile robot. The proposed robot has a structure that can combine or separate robot body and robot wheel parts by using electric brakes. The proposed robot has omni-directional mobility and has the ability to rotate around an arbitrary point. Due to these omnidirectional and rotational characteristics, the proposed robot allows for various types of movements when applied to a car. In particular, parking is performed in a simple and intuitive manner that does not require complicated path planning. We implemented the proposed four-wheeled robot and showed its effectiveness by conducting several parking experiments.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.63-64
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• 2013

• Journal of Broadcast Engineering
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• v.22 no.6
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• pp.785-799
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• 2017

One of the most widely used image media in recent years, omni-directional panorama images are attracting much attention. Since this image is ultra-high value-added, the intellectual property of this image must be protected. In this paper, we propose a blind digital watermarking method for this image. In this paper, we assume that the owner of each original image may be different, insert different watermark data into each original image, and extract the watermark from the projected image, which is a form of service of omni- directional panorama image. Therefore, the main target attack in this paper is the image distortion which occurs in the process of the omni- directional panorama image. In this method, SIFT feature points of non-stitched areas are used, and watermark data is inserted into data around each feature point. We propose two methods of using two-dimensional DWT coefficients and spatial domain data as data for inserting watermark. Both methods insert watermark data by QIM method. Through experiments, these two methods show robustness against the distortion generated in the panorama image generation process, and additionally show sufficient robustness against JPEG compression attack.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.28 no.3
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• pp.305-315
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• 2010

This research aims to develop a method to determine the 3D coordinates of an object point from overlapping omni-directional images acquired by a ground mobile mapping system and assess their accuracies. In the proposed method, we first define an individual coordinate system on each sensor and the object space and determine the geometric relationships between the systems. Based on these systems and their relationships, we derive a straight line of the corresponding object point candidates for a point of an omni-directional image, and determine the 3D coordinates of the object point by intersecting a pair of straight lines derived from a pair of matched points. We have compared the object coordinates determined through the proposed method with those measured by GPS and a total station for the accuracy assessment and analysis. According to the experimental results, with the appropriate length of baseline and mutual positions between cameras and objects, we can determine the relative coordinates of the object point with the accuracy of several centimeters. The accuracy of the absolute coordinates is ranged from several centimeters to 1 m due to systematic errors. In the future, we plan to improve the accuracy of absolute coordinates by determining more precisely the relationship between the camera and GPS/INS coordinates and performing the calibration of the omni-directional camera

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.3
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• pp.210-216
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• 2016

This paper presents a novel collision avoidance technique for mobile robots based on omni-directional vision simultaneous localization and mapping (SLAM). This method estimates the avoidance path and speed of a robot from the location of an obstacle, which can be detected using the Lucas-Kanade Optical Flow in images obtained through fish-eye cameras mounted on the robots. The conventional methods suggest avoidance paths by constructing an arbitrary force field around the obstacle found in the complete map obtained through the SLAM. Robots can also avoid obstacles by using the speed command based on the robot modeling and curved movement path of the robot. The recent research has been improved by optimizing the algorithm for the actual robot. However, research related to a robot using omni-directional vision SLAM to acquire around information at once has been comparatively less studied. The robot with the proposed algorithm avoids obstacles according to the estimated avoidance path based on the map obtained through an omni-directional vision SLAM using a fisheye image, and returns to the original path. In particular, it avoids the obstacles with various speed and direction using acceleration components based on motion information obtained by analyzing around the obstacles. The experimental results confirm the reliability of an avoidance algorithm through comparison between position obtained by the proposed algorithm and the real position collected while avoiding the obstacles.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.11
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• pp.2447-2458
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• 2009

Ad hoc wireless networks operate without any infrastructure where a node can be a source and a router at the same time. This indispensably requires high throughput and low delay performance throughout the wireless network coverage span, particularly under heavy traffic conditions. Recent research on using multiple antennas in beam-forming or multiplexing modes over a wireless channel has shown promising results in terms of high throughput and low delay. Directional antennas have shown to increase spatial reuse by allowing multiple transmitters and receivers to communicate using. directional beams as long as they do not significantly interfere with each other. However directional antenna performance asymptotically approaches the omni-directional performance in a high density ad hoc network. Simulation results in QualNet validate that average throughput and packet corruption ratio of directional antenna approach omni-directional performance. Moreover, we further highlight some important issues pertaining to the directional antenna performance in wireless networks.

• Journal of Korea Multimedia Society
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• v.19 no.8
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• pp.1345-1360
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• 2016

In this paper, we propose a new real-time human detection under omni-directional cameras for visual surveillance purpose, based on CNN with unified detection and AGMM. Compared to CNN-based state-of-the-art object detection methods. YOLO model-based object detection method boasts of very fast object detection, but with less accuracy. The proposed method adapts the unified detecting CNN of YOLO model so as to be intensified by the additional foreground contextual information obtained from pre-stage AGMM. Increased computational time incurred by additional AGMM processing is compensated by speed-up gain obtained from utilizing 2-D input data consisting of grey-level image data and foreground context information instead of 3-D color input data. Through various experiments, it is shown that the proposed method performs better with respect to accuracy and more robust to environment changes than YOLO model-based human detection method, but with the similar processing speeds to that of YOLO model-based one. Thus, it can be successfully employed for embedded surveillance application.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.2
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• pp.147-155
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• 2002

In this paper, the regular rotational gaits of the quadruped crawling robot are studied. It is assumed that the proposed regular rotational gaits starts from one of six support patterns in a translational gaits and end up with one of six support patterns in a translational gaits. Noting that six support patterns in a regular translational gait belong to two different groups with respect to regular rotational gait, the static stability margin and the maximum rotational displacement during one rotational stride period for the two representative support patterns are investigated. It is expected that the proposed regular rotational gaits will enhance the omni-directional characteristics of the quadruped crawling robot.

• Proceedings of the Korea Electromagnetic Engineering Society Conference
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• 2005.11a
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• pp.221-224
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• 2005

In this paper, We have designed, fabricated and measured a stacked planar antenna for Ultra-Wideband communication. Radiation parts of the antenna have exponential curve and fed by strip feeding network. We have used the HFSS of Ansoft to simulate the antenna. It was designed to work on a substrate Teflon of thickness 1.575mm and relative permittivity 3.2. The proposed antenna covered the entire UWB band( 3.1GHz $\sim$ 10.6GHz ) for S11$\leq$l0dB. Also the proposed antenna show a good characteristics, linear phase, omni -directional pattern lot UWB applications. Besides the measured results have a reasonable agreement with the simulated results.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.119.5-119
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• 2002

$\textbullet$ Lack of exact dynamic modeling of omni-directional mobile robots $\textbullet$ The exact dynamic model of the mobile robots including the wheel dynamics $\textbullet$ The joint-space and operational-space dynamic model of the mobile are dervied as anaytical forms $\textbullet$ Comparison between the discrepancy of the incomplete dynamic and the exact dynamic $\textbullet$ Useful aspect of redundant actuation