• The KIPS Transactions:PartA
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• v.18A no.2
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• pp.75-80
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• 2011

Recently, many cleaning robots have been made with various algorithms for efficient cleaning. One of them is a DmaxCoverage algorithm which efficiently clean for the situation when the robot has a time limit. This algorithm uses Rectangle Tiling method for finding the biggest rectangle that doesn't have any obstacle. When the robot uses grid map, Rectangle Tiling method can find the optimal value. Rectangle Tiling method is to find all of the rectangles in the grid map. But when the grid map is big, it has a problem that spends a lot of times because of the large numbers of rectangles. In this paper, we propose Four Direction Rectangle Scanning(FDRS) method that has similar accuracy but faster than Rectangle Tiling method. FDRS method is not to find all of the rectangle, but to search the obstacle's all directions. We will show the FDRS method's performance by comparing of FDRS and Rectangle Tiling methods.

• Journal of the Korea Institute of Information Security & Cryptology
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• v.14 no.5
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• pp.57-68
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• 2004

The rectangle attack and the related-key attack on block ciphers are well-known to be very powerful. In this paper we combine the rectangle attack with the related-key attack. Using this combined attack we can attack the SHACAL-1 cipher with 512-bit keys up to 59 out of its 80 rounds. Our 59-round attack requires a data complexity of $2^{149.72}$ chosen plaintexts and a time complexity of $2^{498.30}$ encryptions, which is faster than exhaustive search.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.130-137
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• 2006

In this paper, we propose a method of selecting new types of rectangle features that are suitable for facial expression recognition. The basic concept in this paper is similar to Viola's approach, which is used for face detection. Instead of previous Haar-like features we choose rectangle features for facial expression recognition among all possible rectangle types in a 3${\times}$3 matrix form using the AdaBoost algorithm. The facial expression recognition system constituted with the proposed rectangle features is also compared to that with previous rectangle features with regard to its capacity. The simulation and experimental results show that the proposed approach has better performance in facial expression recognition.

• The Journal of Korea Robotics Society
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• v.11 no.1
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• pp.33-40
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• 2016

In this paper, we propose a method for estimating the pose of the camera using a rectangle feature utilized for the visual SLAM. A warped rectangle feature as a quadrilateral in the image by the perspective transformation is reconstructed by the Coupled Line Camera algorithm. In order to fully reconstruct a rectangle in the real world coordinate, the distance between the features and the camera is needed. The distance in the real world coordinate can be measured by using a stereo camera. Using properties of the line camera, the physical size of the rectangle feature can be induced from the distance. The correspondence between the quadrilateral in the image and the rectangle in the real world coordinate can restore the relative pose between the camera and the feature through obtaining the homography. In order to evaluate the performance, we analyzed the result of proposed method with its reference pose in Gazebo robot simulator.

• Journal of the Korea Society of Computer and Information
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• v.15 no.2
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• pp.55-64
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• 2010

This paper proposes a face detection method using Free Rectangle feature which possesses a quick execution time and a high efficiency. The proposed mask of Free Rectangle feature is composed of two separable rectangles with the same area. In order to increase the feature diversity, Haar-like feature generally uses a complex mask composed of two or more rectangles. But the proposed feature mask can get a lot of very efficient features according to any position and scale of two rectangles on the feature window. Moreover, the Free Rectangle feature can largely reduce the execution time since it is defined as the only difference of the sum of pixels of two rectangles irrespective of the mask type. Since it yields a quick detection speed and good detection rates on real world images, the proposed face detection method based on Adaboost algorithm is easily applied to detect another object by changing the training dataset.

• The Journal of Korea Robotics Society
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• v.11 no.1
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• pp.9-18
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• 2016

A rectangle-based relative localization method is proposed for a mobile robot based on a novel geometric formulation. In an artificial environment where a mobile robot navigates, rectangular shapes are ubiquitous. When a scene rectangle is captured using a camera attached to a mobile robot, localization can be performed and described in the relative coordinates of the scene rectangle. Especially, our method works with a single image for a scene rectangle whose aspect ratio is not known. Moreover, a camera calibration is unnecessary with an assumption of the pinhole camera model. The proposed method is largely based on the theory of coupled line cameras (CLC), which provides a basis for efficient computation with analytic solutions and intuitive geometric interpretation. We introduce the fundamentals of CLC and describe the proposed method with some experimental results in simulation environment.

• Journal of KIISE:Software and Applications
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• v.33 no.9
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• pp.776-786
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• 2006

This paper proposes XML based mobile information visualization system using rectangle layout to show effectively XML based information to user on mobile devices which do not have a rich display feature. We define XML schema that can describes information in graph with cycle as well as information in tree form. It suggests using rectangle layout method that is an improvement of the traditional method of the radial layout because the specificity of the mobile display should be considered when XML information is rendered on the screen. And then, it applies DOI of fisheye view algorithm to information on the rectangle layout to represent all and user interest information. And it also suggests an effective method considering capability of mobile devices to decrease user's confusion and improve awareness of user when a user Interest target selected. The proposed information visualization system in the form of focus+context supports an effective interface for information retrieval via mobile devices, such as PDA, cellular phone and smart phone, that usually have less power of CPU than that of PC and the constraints of display and memory. In this paper, it performs experiments and makes an evaluation comparing information visualization method between the traditional radial layout and the proposed rectangle layout.

• Journal of Mechanical Science and Technology
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• v.15 no.8
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• pp.1119-1131
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• 2001

In this paper we formulate an optimization based approach to determining the maximally inscribed rectangle in a robots workspace. The size and location of the maximally inscribed rectangle is an effective index for evaluating the size and quality of a robots workspace. Such information is useful for, e. g., optimal worktable placement, and the placement of cooperating robots. For general robot workspaces we show how the problem can be formulated as a constrained nonlinear optimization problem possessing a special structure, to which standard numerical algorithms can be applied. Key to the rapid convergence of these algorithms is the choice of a starting point; in this paper we develop an efficient computational geometric algorithm for rapidly obtaining an approximate solution suitable as an initial starting point. We also develop an improved version of the algorithm of Haug et al. for calculating a robots workspace boundary.

• Proceedings of the Korean Information Science Society Conference
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• 2003.10b
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• pp.43-45
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• 2003

Nowadays, with numerous emerging applications (e.g., traffic control, meteorology monitoring, mobile computing, etc.), access methods to process current and future queries for moving objects are becoming increasingly important. Among these methods, the time-parameterized R-tree (TPR-tree) seems likely the most flexible method in one, two, or three-dimensional space. A key point of TPR-tree is that the (conservative) bounding rectangles are expressed by functions of time. In this paper, we propose a new method, which takes into account positions of its moving objects against the rectangle's bounds. In proposed method, the size of bounding rectangle is significantly smaller than the traditional bounding rectangle in many cases. By this approach, we believe that the TPR-tree can improve query performance considerably.

• Archives of design research
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• v.13 no.4
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• pp.155-162
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• 2000

Is golden proportion, which has been classical beauty among aesthetic rules and orders, avaiable in the present \ulcorner or Does ${\surd}$rectangle proportion replace the classical proportion \ulcorner It is a main theme in this thesis to answer the above questions. This study is basically about favorite proportion in the field of fine art, architecture and design. For this study, 2oo students participate in the answering to the questionnaire. The conclusions which result from the above surveys are as follows ; The results of the first survey is the preference of ${\surd}$2 rectangle to other ${\surd}$rectangles. The second result is the preference of golden proportion as 1 : 1.618 to ${\surd}$2 rectangle as 1 : 1.414. This survey proves that ${\surd}$rectangle proportion as modern proportion does not substitute the golden proportion with the classic proportion.