• KSII Transactions on Internet and Information Systems (TIIS)
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• v.15 no.8
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• pp.3011-3024
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• 2021

Pose estimation of the sensor is important issue in many applications such as robotics, navigation, tracking, and Augmented Reality. This paper proposes visual-inertial integration system appropriate for dynamically moving condition of the sensor. The orientation estimated from Inertial Measurement Unit (IMU) sensor is used to calculate the essential matrix based on the intrinsic parameters of the camera. Using the epipolar geometry, the outliers of the feature point matching are eliminated in the image sequences. The pose of the sensor can be obtained from the feature point matching. The use of IMU sensor can help initially eliminate erroneous point matches in the image of dynamic scene. After the outliers are removed from the feature points, these selected feature points matching relations are used to calculate the precise fundamental matrix. Finally, with the feature point matching relation, the pose of the sensor is estimated. The proposed procedure was implemented and tested, comparing with the existing methods. Experimental results have shown the effectiveness of the technique proposed in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.400-403
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• 1995

A robot system is proposed to realize coordinated motion of two arm robot. Due to a 3-D vision sensor, precise coordinated motions could be realized. Using a sophisticated IC chip, real time image processing could be executed using a simple circuit.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.27 no.10
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• pp.101-106
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• 2013

This paper proposes the new high precision monitoring sensor for the Marine Installation. Among variety of sensor network systems, wireless information transmission through the marine is one of the enabling technologies for the development of future marine-observation systems and sensor networks. Applications of marine monitoring range from oil industry to aquaculture, and include instrument monitoring, pollution control, climate recording, prediction of natural disturbances. For these marine applications to be available, however, the provision of precise location information using monitoring sensor is essential. In this paper, the dynamic characteristics for obtaining the location information of monitoring sensor is analyzed. The theoretical and experimental studies have been carried out. The presented results from the above investigation show considerably excellent performance for the Monitoring for the Marine Installation.

• Proceedings of the KSRS Conference
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• v.2
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• pp.578-581
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• 2006

Usually to achieve precise geolocation of satellite images, we need to get GCPs (Ground control points) from individual scenes. This requirement greatly increases the cost and processing time for satellite mapping. In this article, we focus on finding appropriate sensor models for entire image strips composing of several adjacent scenes. We tested the feasibility of modelling whole satellite image strips by establishing sensor models of one scene with GCPs and by applying the models to neighboring scenes without GCPs. For this, we developed two types of sensor models: collinearity-based type and orbit-based type and tested them using different sets of unknowns. Results indicated that although the performance of two types was very similar, for modelling individual scenes, it was not for modelling the whole strips. Moreover, the performance of sensor models was remarkably sensitive to different sets of unknowns. It was found that the orbit-based model using attitude biases as unknowns can be used to model SPOT image strips of 420 Km in length.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.456-459
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• 2009

Sensor network has been a hot research topic for the past decade and has moved its phase into using multimedia sensors such as cameras and microphones [1]. Combining many types of sensor data will lead to more accurate and precise information of the environment. However, the use of sensor network data is still limited to closed circumstances. Thus, in this paper, we propose a web-service based framework to deploy multimedia sensor networks. In order to unify different types of sensor data and also to support heterogeneous client applications, we used ROA (Resource Oriented Architecture [2]).

• IEMEK Journal of Embedded Systems and Applications
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• v.8 no.3
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• pp.129-136
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• 2013

In this paper, a motion control system based on 2-axis gimbal system is designed and implemented to drive a high speed and precision. The proposed system consists of the RS-422 interface, 2-axis gimbal platform, servo control unit integrated with a high speed DSP chip-set, servo amplifier unit, potentiometer sensor unit, and resolver sensor unit. The servo control unit using the high speed DSP firmware is designed to get a fast response without an overshoot with step input and a RMS error of low probability with ramp input. The servo amplifier unit using a voltage control is designed to resolve the zero-crossing distortion for precise motion. To verify the performance and stability of the implemented system, experiments are performed through a measurement of the time and frequency domain response in a laboratory environment by using a PXI(PCI eXtentions for Instrumentation).

• Journal of Auto-vehicle Safety Association
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• v.9 no.2
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• pp.6-12
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• 2017

An autonomous driving system based on a precise digital map is developed. The system is implemented to the Hyundai's Tucsan fuel cell car, which has a camera, smart cruise control (SCC) and Blind spot detection (BSD) radars, 4-Layer LiDARs, and a standard GPS module. The precise digital map has various information such as lanes, speed bumps, crosswalks and land marks, etc. They can be distinguished as lane-level. The system fuses sensed data around the vehicle for localization and estimates the vehicle's location in the precise map. Objects around the vehicle are detected by the sensor fusion system. Collision threat assessment is performed by detecting dangerous vehicles on the precise map. When an obstacle is on the driving path, the system estimates time to collision and slow down the speed. The vehicle has driven autonomously in the Hyundai-Kia Namyang Research Center.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.40 no.6
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• pp.630-637
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• 1991

For the measurement of time-varying electric fields and related quantities, a field sensor should be sensitive to the field to be measured, and also designed having an accurate transfer function. In this paper, a theoretical model which adequately describes the operation principle and design of the sensor is presented. A calibration and/or correction technique of the sensor is also studied which enables a precise determination of the response of the sensor to an electric field. As a result, the developed electric field sensor and measuring system are known to be accurate within a bandwidth from a few Hz to 200 MHz. It is found that the sensor can be used directly in the measurement of very fast transient voltages and time-varying electric fields occurring during disconnector operations in a gas-insulated substation. It may be useful also for the study on the electromagnetic environmental parameters.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.169-172
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• 2002

A vision sensor measure range data using laser light source. This sensor generally use patterned laser which shaped single line. But this vision sensor cannot satisfy new trend which feeds foster and more precise processing. The sensor's sampling rate increases as reduced image processing time. However, the sampling rate can not over 30fps, because a camera has mechanical sampling limit. If we use multi line laser pattern, we will measure multi range data in one image. In the case of using same sampling rate camera, number of 2D range data profile in one second is directly proportional to laser line's number. For example, the vision sensor using 5 laser lines can sample 150 profiles per second in best condition.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.37 no.8
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• pp.570-578
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• 1988

In order for a robot to carry out a precise assembly task with compliant motion, a force/torque sensor is needed. The output of the cross-bar structured force / torque sensor which is used in a peg-in-hole insertion task and attached to a SCARA type robot, is analzed. First, the relationship between the sensor outputs and the force / torque components obtained by the outputs is investigated. Second, in a peg-in-hole insertion task, the sensor outputs changing with the contact position of the peg and the hole, are analyzed. Also, the relative position of the peg and the hole is obtained from the sensor outputs. The peg-in-hole insertion task is successfully executed, using a SCARA type robot with a wrist force / torque sensor manufactured in our laboratory and the compliance algorithm from the results of this paper.