• Journal of the Institute of Convergence Signal Processing
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• v.5 no.4
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• pp.256-262
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• 2004

A key component of an autonomous mobile robot is to localize itself and build a map of the environment simultaneously. In this paper, we propose a vision-based localization and mapping algorithm of mobile robot using fisheye lens. To acquire high-level features with scale invariance, a camera with fisheye lens facing toward to ceiling is attached to the robot. These features are used in mP building and localization. As a preprocessing, input image from fisheye lens is calibrated to remove radial distortion and then labeling and convex hull techniques are used to segment ceiling and wall region for the calibrated image. At the initial map building process, features we calculated for each segmented region and stored in map database. Features are continuously calculated for sequential input images and matched to the map. n some features are not matched, those features are added to the map. This map matching and updating process is continued until map building process is finished, Localization is used in map building process and searching the location of the robot on the map. The calculated features at the position of the robot are matched to the existing map to estimate the real position of the robot, and map building database is updated at the same time. By the proposed method, the elapsed time for map building is within 2 minutes for 50㎡ region, the positioning accuracy is ±13cm and the error about the positioning angle of the robot is ±3 degree for localization.

• IEIE Transactions on Smart Processing and Computing
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• v.2 no.5
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• pp.277-281
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• 2013

Modern speaker verification systems based on support vector machines (SVMs) use Gaussian mixture model (GMM) supervectors as their input feature vectors, and the maximum a posteriori (MAP) adaptation is a conventional method for generating speaker-dependent GMMs by adapting a universal background model (UBM). MAP adaptation requires the appropriate amount of input utterance due to the number of model parameters to be estimated. On the other hand, with limited utterances, unreliable MAP adaptation can be performed, which causes adaptation noise even though the Bayesian priors used in the MAP adaptation smooth the movements between the UBM and speaker dependent GMMs. This paper proposes a sparse MAP adaptation method, which is known to perform well in the automatic speech recognition area. By introducing sparse MAP adaptation to the GMM-SVM-based speaker verification system, the adaptation noise can be mitigated effectively. The proposed method utilizes the L0 norm as a regularizer to induce sparsity. The experimental results on the TIMIT database showed that the sparse MAP-based GMM-SVM speaker verification system yields a 42.6% relative reduction in the equal error rate with few additional computations.

• The KIPS Transactions:PartD
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• v.9D no.4
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• pp.543-554
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• 2002

GIS (Geographic Information Systems) need faster access and better visualization. For faster access and better visualization in GIS, map generalization and levels of detail are needed. Existing spatial indexing methods do not support map generalization. Also, a few existing spatial indexing methods supporting map generalization do not support ail map generalization operations. We propose a new index structure, i.e. the LR-tree, supporting ail map generalization operations. This paper presents algorithms for the searching and updating the LR-tree and the results of performance evaluation. Our index structure works better than other spatial indexing methods for map generalization.

• Journal of the Korean Society of Safety
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• v.33 no.6
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• pp.77-84
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• 2018

Report documents of industrial and occupational accidents have continuously been accumulated in private and public institutes. Amongst others, information on narrative-texts of accidents such as accident processes and risk factors contained in disaster report documents is gaining the useful value for accident analysis. Despite this increasingly potential value of analysis of text information, scientific and algorithmic text analytics for safety management has not been carried out yet. Thus, this study aims to develop data processing and visualization techniques that provide a systematic and structural view of text information contained in a disaster report document so that safety managers can effectively analyze accident risk factors. To this end, the risk factor map using text mining and self-organizing map is developed. Text mining is firstly used to extract risk keywords from disaster report documents and then, the Self-Organizing Map (SOM) algorithm is conducted to visualize the risk factor map based on the similarity of disaster report documents. As a result, it is expected that fruitful text information buried in a myriad of disaster report documents is analyzed, providing risk factors to safety managers.

• Journal of Korean Society for Geospatial Information Science
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• v.25 no.1
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• pp.55-61
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• 2017

The V-world, korean type spatial information open platform, provides various services to easily utilize 2D, 3D map and administrative information of the country. Among them, V-world 3D map service, modeled in individual building unit, require requests for each building model file and the draw calls for drawing models on the screen by the request. This causes a large number of model requests and draw calls to occur that increase the latency occurring during the transmission and conversion process between the central processing unit(CPU) and the graphic processing unit(GPU), which lead to the performance degradation of the 3D map service. In this paper, we propose a performance improvement plan to reduce the performance degradation of 3D map service caused by multiple model requests and draw calls. Therefore, we tried to reduce the number of requests and draw calls for the model file by applying a 3D tile model that combined multiple building models to single tile. In addition, we applied the quadtree algorithm to reduce the time required to load the model file by shortening the retrieval time of the model. This is expected to contribute to improving the performance of 3D map service of V-world.

• Spatial Information Research
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• v.18 no.4
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• pp.129-140
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• 2010

Large portal sites such as Google, NAVER provide Various services based on the map. Thus, interest and demand of users who want to obtain the region-related information has been increased. And services that combine the regional information with the map are provided currently at the large portal sites. However, the existing services of large portal sites do not provide enough detailed information and are inconvenient because acquisition process of related information is repeated. Therefore, the system that enables users to obtain detailed information related on the specific region synthetically and easily is needed. In this paper, we propose a system model using map interface and knowledge-processing in order to build the system that is useful for acquiring regional information. The model consists of 3-Layers: 'Regional Information Web-Documents Layer', 'Unique Regional Information Layer', and "Map-Interface Layer'. The Integrated Region~Related Information Searching System based on the model is implemented through the following 4-steps: (1) extracting the keywords that represent specific region (2) collecting the related web pages (3) extracting a set of related keywords and computing an association between the keywords (4) implementing a user interface. We verified validity on the model we proposed. knowledge-processing algorithm using affinity matrix, and UI that help users conveniently search by applying the system to region of the Goyang City. This system integrates regional information existing merely individual 'information' and provides users the 'knowledge' that is newly produced and organized. Users can obtain various detailed regional information and easily get related information through this system.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2012.07a
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• pp.44-46
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• 2012

Depth map를 구하는 방법 중 많이 사용되어지는 방법으로 stripe 패턴을 이용하는 방법이 존재한다. 이 방법은 Pro-Cam 시스템을 이용하며 프로젝터로 조사한 패턴을 카메라로 촬영하여 원래의 패턴과 촬영된 패턴간의 기하학적인 관계를 구하여 depth map를 구하는 방법이다. 본 논문에서는 이와 같이 구조광을 이용하여 depth map 획득 시스템을 효과적으로 multi-thread를 사용하여 실시간 처리하는 것을 제안한다. 일반적으로 자주 사용되는 multi-threading 기법에는 CPU의 thread를 이용하는 OpenMP와 GPU의 thread를 이용하는 CUDA가 있다. 이 두 가지 기법은 수행하는데 차이점이 존재하기 때문에 상황에 따라 OpenMP가 더 좋은 효율을 보이는 부분이 있고 CUDA가 더 좋은 효율을 보이는 부분이 있다. 때문에 우리는 이 두 가지에 대해서 각 부분의 특성에 맞게 더 좋은 효율을 보이는 multi-thread를 이용하였다. 결과적으로 우리는 $1280{\times}800$의 영상에 대해 25fps 이상의 depth map를 획득하였다.

• Transactions of Materials Processing
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• v.20 no.4
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• pp.284-290
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• 2011

The front end bending(FEB) behavior of material that usually occurs in plate rolling is investigated. In this paper, a rollbite profile map approach that systematically predicts the FEB slope is presented. It is based on the concurrent use of shape factors and reduction ratios to ensure an accurate value of the FEB and its slope. In order to obtain the unit roll-bite profile map, the FEB slope model was decomposed into a temperature deviation component and a roll-velocity deviation component. By mapping the results of a series of finite element analyses to the unit functions of the roll-bite profile map, it was possible to obtain a realistic prediction of the FEB slope applicable to an actual plate rolling process. Thereby, the usefulness of the present approach is clearly demonstrated.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2003.03a
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• pp.23-29
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• 2003

We have developed a Web-based intensity map generation system. We describe here briefly our system that is automatically generating seismic intensity map using the informations afforded by Internet users who actually experience recent earthquake. Whenever internet survey questionnaires, reported from the citizens using the form available through our Web site, are received, the associated ZIP code region is color-coded according to the Modified Mercalli Intensity Scale. As the number of questionnaires is increased, the intensity value of each region divided by ZIP code is averaged and updated automatically. The coverage of acceleration stations is insufficient to map the accurate extent of ground shaking in Korea. So our system will serve as an alternative for much more rapid generation of intensity map than conventional method, such as mailing intensity survey or elaborate manual processing.

• The Journal of the Korea Contents Association
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• v.10 no.10
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• pp.78-85
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• 2010

Map/Reduce is the programing model which can implement the Cloud Computing recently has been noticed. The model operates an application program processing amount of data using a lot of computers. It is important to plan the mechanism of separating the data in proper size and distributing that to a cluster consisted of computing node in efficient for using the computing nodes very well. Besides that, planning a process of Map phases and Reduce phases also influences the performance of Map/Reduce. This paper suggests the effectively distributing scheme that separates a huge data and operates Map task in the considering the performance of computing node and network status. And we make the Reduce task can be processed quickly through the tuning the mechanism of Map and Reduce task operation. Using the two Map/Reduce sample application, we experimented the suggestion and we evaluate suggestion considered it in how impact the Map/Reduce performance.