• ETRI Journal
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• 제43권6호
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• pp.1013-1023
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• 2021

In this study, we propose a practical path planning method that combines the A^* search algorithm and minimum snap trajectory generation. The A^* search algorithm determines a set of waypoints to avoid collisions with surrounding obstacles from a starting to a destination point. Only essential waypoints (waypoints necessary to generate smooth trajectories) are extracted from the waypoints determined by the A^* search algorithm, and an appropriate time between two adjacent waypoints is allocated. The waypoints so determined are connected by a smooth minimum snap trajectory, a dynamically executable trajectory for the quadrotor. If the generated trajectory is invalid, we methodically determine when intermediate waypoints are needed and how to insert the points to modify the trajectory. We verified the performance of the proposed method by various simulation experiments and a real-world experiment in a forested outdoor environment.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제16권2호
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• pp.524-543
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• 2022

Correct facade image parsing is essential to the semantic understanding of outdoor scenes. Unfortunately, there are often various occlusions in front of buildings, which fails many existing methods. In this paper, we propose an end-to-end deep network for facade parsing with occlusions. The network learns to decompose an input image into visible and invisible parts by occlusion reasoning. Then, a context aggregation module is proposed to collect nonlocal cues for semantic segmentation of the visible part. In addition, considering the regularity of man-made buildings, a repetitive pattern completion branch is designed to infer the contents in the invisible regions by referring to the visible part. Finally, the parsing map of the input facade image is generated by fusing the results of the visible and invisible results. Experiments on both synthetic and real datasets demonstrate that the proposed method outperforms state-of-the-art methods in parsing facades with occlusions. Moreover, we applied our method in applications of image inpainting and 3D semantic modeling.

• 로봇학회논문지
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• 제17권3호
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• pp.353-358
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• 2022

Due to the limited field of view of the pinhole camera, there is a lack of stability and accuracy in camera pose estimation applications such as visual SLAM. Nowadays, multiple-camera setups and large field of cameras are used to solve such issues. However, a multiple-camera system increases the computation complexity of the algorithm. Therefore, in multiple camera-assisted visual simultaneous localization and mapping (vSLAM) the multi-view tracking algorithm is proposed that can be used to balance the budget of the features in tracking and local mapping. The proposed algorithm is based on PanoSLAM architecture with a panoramic camera model. To avoid the scale issue 3D LiDAR is fused with omnidirectional camera setup. The depth is directly estimated from 3D LiDAR and the remaining features are triangulated from pose information. To validate the method, we collected a dataset from the outdoor environment and performed extensive experiments. The accuracy was measured by the absolute trajectory error which shows comparable robustness in various environments.

• 제어로봇시스템학회논문지
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• 제20권12호
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• pp.1284-1289
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• 2014

In this Paper, outdoor position estimation system was implemented using GPS (Global Positioning System) and INS (Inertial Navigation System). GPS position information has lots of errors by interference from obstacles and weather, the surrounding environment. To reduce these errors, multiple GPS system is used. Also, the Discrete Wavelet Transforms was applied to INS data for compensation of its error. In this paper, position estimation of the mobile robot in the straight line is conducted by EKF (Extended Kalman Filter). However, curve running position estimation is less accurate than straight line due to phase change in rotation. The curve is recognized through the rate of change in heading angle and the position estimation precision of the initial curve was improved by UPF (Unscented Particle Filter). In the case of UPF, if the number of particle is so many that big memory gets size is needed and processing speed becomes late. So, it only used the position estimation in the initial curve. Thereafter, the position of mobile robot in curve is estimated through switching from UPF to EKF again. Through the experiments, we verify the superiority of the system and make a conclusion.

• 한국환경복원기술학회지
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• 제18권6호
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• pp.201-214
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• 2015

This study was conducted to identify forest topsoil's usefulness from July 2013 to Oct 2014. Generally, there are abundant seeds in topsoils and it can be used at restoration works. Mt. GARIWANG is famous for biodiversity in Korea. This study was aimed to find out the suitable utilization methods of natural topsoils for restoration works at sky-slopes construction sites. Test beds was made to identify suitable collecting times and suitable topsoil thickness. The main results are summarized as follows. First, Mt. GARIWANG have diverse species and in topsoils we can find lots of burried seeds which can be used at restoration works. Second, according to indoor experiment, as the depth of topsoil used thicker, the number of plants and coverage rates were increased. Also, there were no distinct differences in coverage rates between 5cm and 8cm thick topsoil plots and it can be possible to use at least 3cm thick topsoils even thou lower coverage rates. Third, as the results of research about indoor and outdoor experimental plots, there were difference in plant emergency. If we use the stabilizer to protect soil erosion, then we can get more increased results at sloped outdoor experimental plots. Fourth, based on environmental impact assessment, there was 389 species in whole region of Mt. GARIWANG. Through this seed bank experiments, we can find 23 varieties, including 4 tree varieties and 19 herbaceous varieties. We can find lots of native herbaceous species from topsoils. Fifth, this research was done at the specific area of Mt. GARIWANG and used limited topsoils. But we monitoring more longer periods, then there will be more useful outcomes. Finally by researching topsoils of Mt. GARIWANG, we can find diverse native plants. Thus, we must reuse natural topsoils of Mt. Gariwang for restoration of original vegetation.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2009년도 학술대회
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• pp.84-89
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• 2009

핸드폰, PMP, MP3 플레이어 등으로 대표되는 개인 모바일 장치는 빠르게 발전하고 있다. 이런 모바일 환경의 발전은 사용자의 일상을 이해하고자 하는 라이프로그 연구를 활성화하고 있다. 즉, 모바일 장치의 다양한 센서들을 활용하여 개인의 일상을 기록한 라이프로그는 복잡한 일상에 대한 기억 보조 도구로 사용가능하기에 현재 활발히 연구되고 있다. 본 논문에서는 GPS에 의한 실외 위치뿐만 아니라 무선랜에 의한 실내 위치를 고려하여 상황을 추론하고 시각화하는 방법을 제시한다. 실내에서 GPS가 제대로 동작하지 않더라도 무선랜을 기반으로 한 실내 위치 추정을 통해 위치 정보를 획득하고 상황 인식 성능을 향상시켰다. 또한, 지도 인터페이스 및 블로그를 기반으로 하는 시각화 방법을 개발하였다. 실험에서는 모바일 장비를 가지고 실제 데이터를 수집한 뒤 제안하는 방법을 통해 상황을 인식하고 시각화 서비스를 제공하는 성능을 평가하였다.

• 제어로봇시스템학회논문지
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• 제16권11호
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• pp.1068-1073
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• 2010

When a robot navigates in an outdoor environment, a curb or a sidewalk separated from the road can be used as a robust feature. However, most algorithms could detect the curb only in the straight road, and could not detect highly curved corners, ramps, and so on. This paper proposes an algorithm which enables the robot to detect and follow the curbs in various types of roads. In the proposed method, the robot tilts a laser scanner and computes the error between the predicted and the measured distances to the road in front of the robot. Based on this error, the curbs at corners and curves can be classified. It is also difficult to detect a curb near a ramp because of its low height. In this case, the robot also tilts a laser scanner to detect the curb beyond the ramp. Once the robot classifies the road into the curve, corner, ramp, the robot selects the proper navigation strategies depending on the classified road types and is able to continue to detect and follow the curb. The results of a series of experiments show that the robot can stably detect and follows the curb in curves, corners and ramps as well as the straight road.

• 설비공학논문집
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• 제18권2호
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• pp.172-179
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• 2006

This study developed a program for detecting charged refrigerant amount in system air-conditioner. System air-conditioner is an air-conditioning system with multiple indoor units. Due to the complexity of the system, it is more difficult to detect the refrigerant amount charged in the system air-conditioner than in a general single air-conditioner. Experiments were performed for a 6 HP outdoor unit with 3 indoor units in a psychrometric calorimeter. The experimental amount of the charged refrigerant was ranged from $60\%\;to\;140\%\;with\;10\%$ increasement. Fuzzy algorithm was employed for detecting the charged refrigerant amount in the system air-conditioner. The experimental data were used for curve-fitting for the general ranges of indoor and outdoor temperature conditions. Membership function was determined for the whole ranges of experimentally measured data and rule-bases were defined for each charged refrigerant amount. Developed program successfully predicted the measured data within $10\%$ resolution range.

• 한국통신학회논문지
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• 제36권3B호
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• pp.297-304
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• 2011

무선통신 임베디드시스템 및 MIMO 전파특성 예측을 위해 실내 및 실외 전파 예측 프로그램을 통합하여 하나의 시뮬레이터를 통해 실내 외 전파 예측이 가능하다. 이러한 해석 기법 개발을 통하여 여러 송신기간의 간섭 문제 및 최대 송신거리 문제, 주파수 이용 효율 등 여러 가지 문제에 대한 분석 및 예측이 가능해진다. 본 예측 기술 개발에서는 기존의 Walfish-Ikegami 방법 등 간략화된 모델보다 정확도 높으면서도 환경적 특성을 잘 고려 할 수 있는 광선추적법을 구현한 모의해석 소프트웨어를 개발하고 효율적인 광선 추적이 가능하도록 고안된 광선 추적 기법과 추적된 광선 정보를 이용하여 전파 특성 해석 기술을 접목시켜 효율적이면서도 이론적 특성을 잘 반영한 전파 특성 예측 기술을 확보하였다. 또한 주파수 확보를 위한 국내 임베디드시스템 및 IMT-Advanced용 신규대역 확보를 위한 주파수 특성 및 IMT-Advanced용 주파수인 3-5GHz대역 전파특성을 규명하여 국내 무선통신 기술 개발에 필요한 기반 기술 확보 및 전파간섭등 주파수 관리 기술 확보를 위하여 검증 및 실험을 통하여 확인 하였다.

• 한국컴퓨터정보학회논문지
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• 제13권5호
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• pp.179-186
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• 2008

무선 센서 네트워크의 응용범위가 늘어남에 따라 정확한 무선 채널의 정보를 필요로 한다. 실내 또는 실외의 무선 센서 네트워크의 경우 페이딩에 의한 다중 경로 전파가 문제를 일으키고 있다. 본 논문에서는 실내 2.4 GHz 채널에 대한 log-normal path loss 모델링을 살펴본다. 송신기와 수신기 사이의 거리를 1에서 30m까지 변화시키면서 수신 신호 강도 변화를 측정하고, 채널의 감쇄지수와 표준편차를 계산하였다. 계산한 모델의 패킷 수신율을 이용하여 무선 센서 채널을 연결 영역과 차단 영역으로 정의하고, 시뮬레이션과 실험 결과를 통해서 무선 채널의 특징을 비교하였다. 실험결과 실내에서의 연결 영역은 24m, 실외에서의 연결 영역은 14m로 측정되었다.