• 로봇학회논문지
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• 제19권2호
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• pp.188-195
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• 2024

This paper proposes a photorealistic real-time dense 3D mapping system that utilizes a neural network-based image enhancement method and mesh-based map representation. Due to the characteristics of the underwater environment, where problems such as hazing and low contrast occur, it is hard to apply conventional simultaneous localization and mapping (SLAM) methods. At the same time, the behavior of Autonomous Underwater Vehicle (AUV) is computationally constrained. In this paper, we utilize a neural network-based image enhancement method to improve pose estimation and mapping quality and apply a sliding window-based mesh expansion method to enable lightweight, fast, and photorealistic mapping. To validate our results, we utilize real-world and indoor synthetic datasets. We performed qualitative validation with the real-world dataset and quantitative validation by modeling images from the indoor synthetic dataset as underwater scenes.

• International Journal of Internet, Broadcasting and Communication
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• 제9권3호
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• pp.1-8
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• 2017

Recently, the development of the head mounted display (HMD) device has attracted a great deal of attention to the actual contents. Especially, Augmented Reality (AR), which is a mixture of actual information and virtual world information, is focused on. AR HMD is able to interact by arranging virtual objects in real space through spatial recognition using depth camera. In order to naturally mix virtual space with real space, it is necessary to develop a technology for realizing spatial mapping information with high accuracy. The purpose of this paper is to evaluate the optimal configuration of augmented reality application program by realizing accurate spatial mapping information when mapping a real space and an object placement environment using HoloLens. To do this, we changed the spatial mapping information in real space to three levels, which are the number of meshes used in cubic meters to scan step by step. After that, it was compared with the 3D model obtained by changing the actual space and mesh number. Experimental result shows that the higher the number of meshes used in cubic meters, the higher the accuracy between real space and spatial mapping. This paper is expected to be applied to augmented reality application programs that require scanning of highly mapped spatial mapping information.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1127-1130
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• 2003

This paper introduces histogramic in-motion mapping for real-time map building with the Eyebot in motion. A histogram grid used in HIMM is updated through three PSD sensors. HIMM makes it possible to make fast map-building and avoid obstacles in real-time. Fast map-building allows the robot to immediately use the mapped information in real-time obstacle-avoidance algorithms. HIMM has been tested on the Eyebot. The Eyebot sends PSD data to computer and computer builds a 3D-Map based on PSD data.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2005년도 Proceedings of ISRS 2005
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• pp.705-708
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• 2005

Mobile Mapping Systems using the vehicle equipped the GPS, IMU, CCD Cameras is the effective system for the management of the road facilities, update of the digital map, and etc. They must provide users with the sensor data which is acquired by Mobile Mapping Systems in real-time so that users can process what they want by using the latest data. But it' s not an easy process because the amount of sensor data is very large, particularly image data to be transmitted. So it is necessary to reduce the amount of image data so that it is transmitted effectively. In this study, the effective method was suggested for the compression/decompression image data using the Wavelet Transformation and Huffman Coding. This technique will be possible to transmit of the geographic information effectively such as position data, attitude data, and image data acquired by Mobile Mapping Systems in the wireless internet environment when data is transmitted in real-time.

• 대한전자공학회논문지SP
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• 제41권5호
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• pp.225-233
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• 2004

본 논문에서는 기존에 PC 모니터와 프린터 사이의 색 재현성 향상을 위해서 사용되던 색역폭 매핑 방법을 디스플레이 장치에 적용하기 위한 실시간 색역폭 매핑 방법을 제시하였다. 다양한 디스플레이 장치가 개발됨에 따라서 각 디스플레이 별로 색 재현성의 차이가 발생하고 있으며 기존의 색역폭 매핑 방법을 디지털 TV의 디스플레이 장치에 적용하기 위해서는 수 나노초 단위의 처리 속도가 필요하다. 이를 위하여 본 논문에서는 절감 3차원 룩업 테이블(three-dimensional reduced resolution look-up table)의 하드웨어 구조를 제안하고 이를 이용하여 색역폭 매핑을 실시간으로 수행하는 방법을 제공한다. 제안된 하드웨어 구조는 먼저 simulation을 통하여 타당성을 검증하였으며 이후 FPGA와 ASIC으로 구현되어 디지털 TV의 디스플레이 장치의 화질 개선에 성공적으로 적용되었다.

• International journal of advanced smart convergence
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• 제12권4호
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• pp.361-369
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• 2023

Achieving realistic visual quality while maintaining optimal real-time rendering performance is a major challenge in evolving computer graphics and interactive 3D applications. Normal mapping, as a core technology in 3D, has matured through continuous optimization and iteration. Hybrid normal mapping as a new mapping model has also made significant progress and has been applied in the 3D asset production pipeline. This study comprehensively explores the hybrid normal techniques, analyzing Linear Blending, Overlay Blending, Whiteout Blending, UDN Blending, and Reoriented Normal Mapping, and focuses on how the various hybrid normal techniques can be used to achieve rendering performance and visual fidelity. performance and visual fidelity. Under the consideration of computational efficiency, visual coherence, and adaptability in different 3D production scenes, we design comparative experiments to explore the optimal solutions of the hybrid normal techniques by analyzing and researching the code, the performance of different hybrid normal mapping in the engine, and analyzing and comparing the data. The purpose of the research and summary of the hybrid normal technology is to find out the most suitable choice for the mainstream workflow based on the objective reality. Provide an understanding of the hybrid normal mapping technique, so that practitioners can choose how to apply different hybrid normal techniques to the corresponding projects. The purpose of our research and summary of mixed normal technology is to find the most suitable choice for mainstream workflows based on objective reality. We summarized the hybrid normal mapping technology and experimentally obtained the advantages and disadvantages of different technologies, so that practitioners can choose to apply different hybrid normal mapping technologies to corresponding projects in a reasonable manner.

• Spatial Information Research
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• 제11권3호
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• pp.291-299
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• 2003

모바일 매핑시스템은 차량에 CCD카메라와 위치측정장비(GPS/INS, Odometer 등)를 장착하고 도로에서 일정한 거리 또는 시간간격으로 지리 정보 데이터를 획득하는 이동 정보취득 시스템이다. 이러한 모바일 매핑시스템으로부터의 자료가 실시간으로 사용자에게 전달되면, 사용자는 이동국의 위치 및 지리정보 상황을 쉽게 파악할 수 있는 장점이 있다. 실시간 위치정보 제공의 방법은 PDA, 무선모뎀, 핸드폰 그리고 웹 등 여러 가지가 있을 수 있으나, 안정적이고 효율적이며, 경제적인 방법으로 웹을 통한 전송을 생각할 수 있다. 웹을 이용한 실시간 지리정보 전송을 위해서는 먼저 실시간 위치측정이 가능한 모바일 매핑시스템을 이용하여 지리정보를 취득하고 이를 웹을 통하여 전송할 수 있는 플랫폼이 필요하다. 본 연구에서는 실시간 위치정보를 취득할 수 있는 GPS/INS 시스템을 이용하여 데이터를 취득한 후 사용자가 모바일 매핑시스템의 실시간 위치정보를 확인할 수 있도록 웹으로 전송하는 플랫폼을 연구하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.388-388
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• 2000

The complexity of nonlinear systems makes it difficult to ascertain their behavior using classical methods of analysis. Many efforts have been focused on the advanced algorithms and techniques that hold the promise of improving real-time optimal control while at the same time providing higher accuracy. In this paper, a fuzzy cell mapping method of real-time optimal control far nonlinear dynamical systems is proposed. This approach combines fuzzy logic with cell mapping techniques in order to find the optimal input level and optimal time interval in the finite set which change the state of a system to achieve a desired obiective. In order to illustrate this method, we analyze the behavior of an inverted pendulum using fuzzy cell mapping.

• 한국게임학회 논문지
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• 제8권1호
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• pp.71-77
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• 2008

높이 맵으로부터 지형의 기하구조를 형성하고 그 세부 묘사를 위하여 왕 타일을 이용하여 반복적이지 않는 타일링을 할 수 있다. 타일 내에 색상 정보와 더불어 높이 정보를 추가하여 세부적인 요철의 정보를 담아 시차 맵핑을 통하여 효과적으로 표현 할 수 있다. 본 논문에서는 이를 실시간 렌더링 할 때 문제되는 부분을 해결하였으며, 지형을 위한 시차 맵핑의 보안을 제안한다.

• Kyungpook Mathematical Journal
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• 제55권4호
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• pp.933-951
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• 2015

In this paper, we consider the problem of convergence of an iterative algorithm for a general system of variational inequalities, a nonexpansive mapping and an ${\eta}$-strictly pseudo-contractive mapping. Strong convergence theorems are established in the framework of real Banach spaces.