• 자동차안전학회지
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• 제13권4호
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• pp.123-128
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• 2021

This paper present box feature estimation from LiDAR point cluster using maximum likelihood Method. Previous LiDAR tracking method for autonomous driving shows high accuracy about velocity and heading of point cluster. However, Assuming the average position of a point cluster as the vehicle position has a lower accuracy than ground truth. Therefore, the box feature estimation algorithm to improve position accuracy of autonomous driving perception consists of two procedures. Firstly, proposed algorithm calculates vehicle candidate position based on relative position of point cluster. Secondly, to reflect the features of the point cluster in estimation, the likelihood of the particle scattered around the candidate position is used. The proposed estimation method has been implemented in robot operating system (ROS) environment, and investigated via simulation and actual vehicle test. The test result show that proposed cluster position estimation enhances perception and path planning performance in autonomous driving.

• 경영과학
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• 제20권2호
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• pp.179-196
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• 2003

Function point model is the international standard method to measure the software size which is one of the most important factors to determine the software development cost. Function point model can successfully be applied only when the detailed specification of users' requirements is available. In the domestic public sector, however, the budgeting for software projects is carried out before the requirements of softwares ere specified in detail. Therefore, an efficient function point estimation method is required to apply function point model at the early stage of software development projects. The purpose of this paper is to compare various function point estimation methods and analyse their accuracies in domestic software projects. We consider four methods : NESMA model, ISBSG model, the simplified function point model and the backfiring method. The methods are applied to about one hundred of domestic projects, and their estimation errors are compared. The results can used as a criterion to select an adequate estimation model for function point counts.

• 경영과학
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• 제14권1호
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• pp.131-149
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• 1997

Software cost estimation is an important both for buyers and sellers(developers). We reviewed domestic and foreign researches and practices on software cost estimation with function point method comprehensively, In this paper, we derived four promising alternative function point models. They are an IFPUG(International Function Point User Group)-based model(Model I), a shorthand model for client/sever software systems(Model II), a data-oricnted model for relatively large software projects(Model III), and a general- purpose function point model for non business application softwares as well as business applications(Model IV). Empirical data shows that Model I, II, and IV are very useful function point models. In particular, model II and IV look very useful models since they are concise and accurate. These models can be incorporated in a new improved guideline for software cost estimation. General opinion survey shows that Model I, II and IV are preferable. There are no significant differences in preference between buyers and sellers. The survey also shows that users think function point method is better than step(line of code)-oriented cost estimation methods in many ways including objectivity and estimation accuracy.

• 로봇학회논문지
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• 제10권1호
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• pp.9-15
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• 2015

We present a robust power transmission lines detection method based on vanishing point estimation. Vanishing point estimation can be helpful to detect power transmission lines because parallel lines converge on the vanishing point in a projected 2D image. However, it is not easy to estimate the vanishing point correctly in an image with complex background. Thus, we first propose a vanishing point estimation method on power transmission lines by using a probabilistic voting procedure based on intersection points of line segments. In images obtained by our system, power transmission lines are located in a fan-shaped area centered on this estimated vanishing point, and therefore we select the line segments that converge to the estimated vanishing point as candidate line segments for power transmission lines only in this fan-shaped area. Finally, we detect the power transmission lines from these candidate line segments. Experimental results show that the proposed method is robust to noise and efficient to detect power transmission lines.

• ETRI Journal
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• 제37권4호
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• pp.766-771
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• 2015

Robust motion estimation for human-computer interactions played an important role in a novel method of interaction with electronic devices. Existing pose estimation using a monocular camera employs either ego-motion or exo-motion, both of which are not sufficiently accurate for estimating fine motion due to the motion ambiguity of rotation and translation. This paper presents a hybrid vision-based pose estimation method for fine-motion estimation that is specifically capable of extracting human body motion accurately. The method uses an ego-camera attached to a point of interest and exo-cameras located in the immediate surroundings of the point of interest. The exo-cameras can easily track the exact position of the point of interest by triangulation. Once the position is given, the ego-camera can accurately obtain the point of interest's orientation. In this way, any ambiguity between rotation and translation is eliminated and the exact motion of a target point (that is, ego-camera) can then be obtained. The proposed method is expected to provide a practical solution for robustly estimating fine motion in a non-contact manner, such as in interactive games that are designed for special purposes (for example, remote rehabilitation care systems).

• Journal of Positioning, Navigation, and Timing
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• 제2권1호
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• pp.81-89
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• 2013

Many of the current visual odometry algorithms suffer from some extreme limitations such as requiring a high amount of computation time, complex algorithms, and not working in urban environments. In this paper, we present an approach that can solve all the above problems using a single camera. Using a planar motion assumption and Ackermann's principle of motion, we construct the vehicle's motion model as a circular planar motion (2DOF). Then, we adopt a 1-point method to improve the Ransac algorithm and the relative motion estimation. In the Ransac algorithm, we use a 1-point method to generate the hypothesis and then adopt the Levenberg-Marquardt method to minimize the geometric error function and verify inliers. In motion estimation, we combine the 1-point method with a simple least-square minimization solution to handle cases in which only a few feature points are present. The 1-point method is the key to speed up our visual odometry application to real-time systems. Finally, a Bundle Adjustment algorithm is adopted to refine the pose estimation. The results on real datasets in urban dynamic environments demonstrate the effectiveness of our proposed algorithm.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2007년도 학술발표회 논문집
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• pp.855-859
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• 2007

It is essential to obtain accurate and highly reliable streamflow data for water resources planning, evaluation and management as well as design of hydraulic structures. A new discharge estimation method, which is named 'non-dimensional velocity distribution and index-velocity method,' was proposed in this research. This method showed very close channel discharges which were calculated with the exiting velocity-area method. When velocity-area method is used to estimate channel discharge, it is required to observe point velocities at every desired point and vertical using a current meter like Price-AA. However 'non-dimensional velocity distribution and index-velocity method' is used, it become optional to observe point velocities at every desired point and vertical. But this method can not be applied for the cases of very complex and strongly asymmetric channel cross-sections because non-dimensional velocity distribution by entropy concept may be quite biased from that of natural rivers.

• Journal of Power Electronics
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• 제13권2호
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• pp.243-249
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• 2013

This paper presents a neutral-point voltage balancing method for three-level inverter systems using a time-offset estimation scheme. The neutral-point voltage is balanced by adding a time-offset to the turn-on time of the switches. If an inaccurate time-offset is added, the neutral-point deviation still remains. An accurate time-offset is obtained through the proposed time-offset estimation scheme. This method is implemented without additional hardware, complex calculations, or analysis. The effectiveness of the proposed method is verified by experiments.

• 전기학회논문지
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• 제57권12호
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• pp.2291-2299
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• 2008

Hall effect force sensors have been used to measure clamping force in conventional Electric Parking Brake(EPB) systems. Estimation of clamping force without the sensors has drawn attentions due to mounting space limitations and cost issues. Removing the sensor requires the estimation of the initial contact point where the clamping force is effectively applied to the brake pads. In this paper, we propose how to estimate the initial contact point finding the relation between the angular velocity of an actuator and the initial contact point. For force estimation a look-up table is used as a function of the displacement of parking cable from the initial contact point. The proposed method is validated by experiments. From the experimental results we observe that the proposed method satisfies the specifications. The designed method is also able to estimate clamping force although parking cables are loosened and brake pads are worn out. Applying the proposed method enables manufacturing of low cost EPB systems.

• Journal of the Korean Data and Information Science Society
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• 제24권6호
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• pp.1309-1317
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• 2013

일반화 지수분포 (generalized exponential distribution)를 따르는 점진 제 1종 구간 중도절단 (progressive type-I interval censoring) 표본에서 모수 추정은 Chen과 Lio (2010)가 최대우도 추정법 (maximum likelihood estimation), 중간점 근사법 (mid-point approximation method), EM 알고리즘 (expectation maximization algorithm), 적률 추정법 (method of moments estimation; MME)으로 하였으며, 그 방법들 중 평균제곱오차 (mean square error; MSE)가 가장 작은 추정법은 중간점 근사법이다. 하지만 중간점 근사법을 바탕으로 최대우도 추정법을 이용하여 모수를 추정하려고 한다면 모수에 대한 해를 전개할 수 없기 때문에 수치 해석적인 방법을 이용하여 추정하여야 한다. 본 논문에서는 이러한 문제를 해결하기 위해서 근사 최대우도 추정법 (approximate maximum likelihood estimation)을 이용하여 두 종류의 모수를 추정하고, 모의실험을 통하여 수치해석학적인 방법을 이용한 중간점 근사법의 해 (estimate of mid-point approximation method; MP)와 제시한 두 가지 추정량을 평균제곱오차 측면에서 비교한다.