• International Journal of Control, Automation, and Systems
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• v.5 no.6
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• pp.663-673
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• 2007

This paper presents a new moving obstacle detection method using an optical flow in mobile robot with an omnidirectional camera. Because an omnidirectional camera consists of a nonlinear mirror and CCD camera, the optical flow pattern in omnidirectional image is different from the pattern in perspective camera. The geometry characteristic of an omnidirectional camera has influence on the optical flow in omnidirectional image. When a mobile robot with an omnidirectional camera moves, the optical flow is not only theoretically calculated in omnidirectional image, but also investigated in omnidirectional and panoramic images. In this paper, the panoramic image is generalized from an omnidirectional image using the geometry of an omnidirectional camera. In particular, Focus of expansion (FOE) and focus of contraction (FOC) vectors are defined from the estimated optical flow in omnidirectional and panoramic images. FOE and FOC vectors are used as reference vectors for the relative evaluation of optical flow. The moving obstacle is turned out through the relative evaluation of optical flows. The proposed algorithm is tested in four motions of a mobile robot including straight forward, left turn, right turn and rotation. The effectiveness of the proposed method is shown by the experimental results.

• The Journal of Korea Robotics Society
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• v.3 no.2
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• pp.91-98
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• 2008

This paper describes the recognition method of moving objects in mobile robot with an omnidirectional camera. The moving object is detected using the specific pattern of an optical flow in omnidirectional image. This paper consists of two parts. In the first part, the pattern of an optical flow is investigated in omnidirectional image. The optical flow in omnidirectional image is influenced on the geometry characteristic of an omnidirectional camera. The pattern of an optical flow is theoretically and experimentally investigated. In the second part, the detection of moving objects is presented from the estimated optical flow. The moving object is extracted through the relative evaluation of optical flows which is derived from the pattern of optical flow. In particular, Focus-Of-Expansion (FOE) and Focus-Of-Contraction (FOC) vectors are defined from the estimated optical flow. They are used as reference vectors for the relative evaluation of optical flows. The proposed algorithm is performed in four motions of a mobile robot such as straight forward, left turn, right turn and rotation. Experimental results using real movie show the effectiveness of the proposed method.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.7 no.2
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• pp.145-149
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• 2006

UHF band omnidirectional antennas for RFID tag were designed. Crossed loaded dipole and bended dipole were applied to be designed for both miniaturization and omnidirectional radiation pattern. By suppling 90 degrees phase difference between crossed dipoles, omnidirectional E-plane patterns can be obtained. -10 dB reflection coefficients of 3 types dipole antenna which have designed under conjugate matched with input impedance of chip were shown as 670-1,050 MHz, 700-1,250 MHz and 600-1,020 MHz, respectively, and also shown that all antenna have omnidirectional radiation pattern both E and H plane.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.14 no.10
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• pp.1089-1095
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• 2003

In this paper, the 26 GHz band omnidirectional antenna that produces an isotropic radiation pattern in the azimuth plane and a directive radiation pattern in the elevation plane was designed by using reflector antennas. To investigate the reliability of the designed antenna, that was analyzed by using the aperture field method and the calculated value was compared with the measured value. An good agreement was achieved between the calculated characteristics and the experimental performance. We found that the designed antenna in this paper can be used as the omnidirectional antenna with reflectors and the analysis method in this paper can be used for the analysis of this type antenna.

• Journal of Sensor Science and Technology
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• v.26 no.3
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• pp.173-178
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• 2017

In this paper, we newly developed an omnidirectional receiver for visible light communication (VLC). The omnidirectional receiver was composed of a flexible solar cell attached on a cylindrical surface with its axis in vertical direction. The solar cell surface was symmetrical and showed an almost uniform receiving pattern in a horizontal plane. The maximum difference in a receiving pattern was within 7% of its peak value in a horizontal plane. This configuration is very easy to fabricate and useful in constructing wireless sensor networks in which one receiver needs to detect multiple LED signals in different directions.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.20 no.8
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• pp.806-812
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• 2009

In this paper, the omnidirectional circularly polarized(CP) antenna using arc-shaped mushroom structure with curved branch is proposed. To obtain a vertical polarization and an omnidirectional radiation pattern, the CP antenna uses zeroth-order resonance(ZOR) mode of composite right and left handed(CRLH) transmission line. The horizontal polarization is achieved by the curved branches. Also, the spacing between curved branch and arc-shaped mushroom structure gives the $90^{\circ}$ phase difference between vortical and horizontal polarization. The proposed antenna, therefore, has an omnidirectional CP radiation pattern In the azimuthal plane. The electrical size of the proposed antenna is reduced by 38%, compared with that of the previously presented omnidirectional CP antenna. In addition, the CP antenna is simply designed without $90^{\circ}$ phase shifter and dual feed line. The proposed antenna uses a Bazooka balun for good impedance matching and radiation pattern. To improve 3 dB axial ratio in XY plane, the designed antenna is optimized. After optimization, the measured 3 dB axial ratio in XY plane is observed in $86{\sim}282^{\circ}$.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.1 no.3
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• pp.3-8
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• 2008

In this paper, an planar antenna which has omnidirectional radiation pattern in H-plane and low profile is proposed. By adding inductance elements of an ENG shell structure, a capacitance element of an electrically small antenna is easily achieved with impedance matching. An ENG shell structure is consist of a inductive loading structure which has symmetrical four stepped L-shape slots. The simulated result shows, the impedance bandwidth of the proposed antenna is 150MHz (2.5 ~ 2.65GHz). The simulated maximum radiation gain of proposed antenna is 1.12 dBi at center frequency 2.56GHz. Omnidirectional radiation pattern is achieved. The proposed antenna will be applied to wireless lan access point system.

• The Journal of the Korea Contents Association
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• v.10 no.6
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• pp.10-17
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• 2010

This paper presents a calibration method of an omnidirectional stereo camera which may be essentially performed for distance measurement to a certain point. In the calibration of the omnidirectional stereo camera, the independent calibrations of two cameras or the calibration of a stereo camera having the small baseline is feasible applying many methods studied in the past. However, the baseline should be large enough for long distance measurement by the omnidirectional stereo camera, since it is not easy to calibrate two cameras with a large baseline at the same time. It is because a test pattern for the calibration, which is simultaneously captured by two omnidirectional cameras, appears too small in at least one of the omnidirectional cameras. It causes inaccurate calibration. In this paper, therefore, we propose a calibration method of the omnidirectional stereo camera with a large baseline and empirically verify its feasibility.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.20 no.4
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• pp.83-94
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• 2021

In this paper, we proposed a microstrip antenna (center frequency 118 MHz) with an omnidirectional radiation pattern that can replace the antennae used in VDB systems in GBAS. First, to obtain an omnidirectional radiation pattern from a microstrip antenna, we constructed a folded antenna. We then designed a miniaturized triple-folded antenna using perturbation effects. Thus we obtained suitable characteristics with a S₁₁ of -13.91dB, -10 dB bandwidth of 1.5 MHz (1.27%) in the center frequency of 118 MHz. Furthermore, in the yz-plane and xy-plane, the component exhibits an omnidirectional radiation pattern, and the size of the antenna achieves miniaturization of 64.2% compared to the reference antenna. Finally, it is suitable as an antenna for VDB systems in GBAS.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.11
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• pp.1050-1056
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• 2015

In this paper, we use the characteristics of electromagnetic waves underwater attenuation for estimating linear distance between a transmitting node and receiving node, and research underwater vertical plane attenuation model for constructing the underwater localization system. The underwater localization of 2 dimensional with the plane attenuation model in the horizontal plane (H-plane) was proposed previous research. But for the 3 dimensional underwater localization, the additional vertical plane (E-plane) model should be considered. Because the horizontal plane of omnidirectional antenna has the same attenuation tendency in x-y plane according to the distance, whereas in vertical plane shows an irregular pattern in x-z plane. For that reason, in the vertical plane environment, the attenuation should be changed by the position and inclination. Hence, in this paper the distance and angle between transmitting and receiving node are defined using spherical coordinate system and derive an antenna gain pattern using half power beam width (HPBW). The HPBW is called a term which defines antenna's performance between isotropic and other antennas. This paper derives omnidirectional antenna's maximum gain and attenuation pattern model and define vertical plane's gain pattern model using HPBW. Finally, experimental verifications for the proposed underwater vertical plane's attenuation model was executed.