• Title/Summary/Keyword: Relative Coordinate

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Geocoding of the Free Stereo Mosaic Image Generated from Video Sequences (비디오 프레임 영상으로부터 제작된 자유 입체 모자이크 영상의 실좌표 등록)

  • Noh, Myoung-Jong;Cho, Woo-Sug;Park, Jun-Ku;Kim, Jung-Sub;Koh, Jin-Woo
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.29 no.3
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    • pp.249-255
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    • 2011
  • The free-stereo mosaics image without GPS/INS and ground control data can be generated by using relative orientation parameters on the 3D model coordinate system. Its origin is located in one reference frame image. A 3D coordinate calculated by conjugate points on the free-stereo mosaic images is represented on the 3D model coordinate system. For determining 3D coordinate on the 3D absolute coordinate system utilizing conjugate points on the free-stereo mosaic images, transformation methodology is required for transforming 3D model coordinate into 3D absolute coordinate. Generally, the 3D similarity transformation is used for transforming each other 3D coordinates. Error of 3D model coordinates used in the free-stereo mosaic images is non-linearly increased according to distance from 3D model coordinate and origin point. For this reason, 3D model coordinates used in the free-stereo mosaic images are difficult to transform into 3D absolute coordinates by using linear transformation. Therefore, methodology for transforming nonlinear 3D model coordinate into 3D absolute coordinate is needed. Also methodology for resampling the free-stereo mosaic image to the geo-stereo mosaic image is needed for overlapping digital map on absolute coordinate and stereo mosaic images. In this paper, we propose a 3D non-linear transformation for converting 3D model coordinate in the free-stereo mosaic image to 3D absolute coordinate, and a 2D non-linear transformation based on 3D non-linear transformation converting the free-stereo mosaic image to the geo-stereo mosaic image.

A Camera Pose Estimation Method for Rectangle Feature based Visual SLAM (사각형 특징 기반 Visual SLAM을 위한 자세 추정 방법)

  • Lee, Jae-Min;Kim, Gon-Woo
    • 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.

Simulation of a Rotating Chain with an Absolute Nodal Coordinate Formulation (절대절점좌표를 이용한 회전체인의 시뮬레이션)

  • Yoo, Wan-Suk;Dmitrochenko, Oleg;Pogorelov, Dmitry
    • Proceedings of the KSME Conference
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    • 2004.11a
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    • pp.649-654
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    • 2004
  • A physically simple but mathematically cumbrous problem of rotating heavy chain with one fixed top point is studied. Nonlinear equation of its two-dimensional shapes of relative equilibrium is obtained and solved numerically. A linear case of small displacements is analyzed in terms of Bessel functions. The qualitative and quantitative behavior of the problem is discussed with the help of bifurcation diagram. Dynamics of the two-dimensional model near the equilibrium positions is studied with the help of simulation using the absolute nodal coordinate formulation (ANCF). The equilibriums are found instable, and the reason of instability is explained using a variational principle.

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Improvement of the Surface Roughness by Changing Chamfered Angle of the Insert in Face Milling (정면밀링가공에서 인서트의 챔퍼각 변화에 의한 표면거칠기 향상)

  • Kwon, Won-Tae;Lee, Seong-Sei
    • Journal of the Korean Society for Precision Engineering
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    • v.18 no.7
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    • pp.155-160
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    • 2001
  • A milling process with 45 degree chamfered inserts produces a perfect flat surface only in theory. It is due to many unwanted factors including thermal effect, dynamic effect, the problem of the controller used and the problem of accuracy of the machine tool. In this study, introduced is a method to improve the surface roughness by redesigning of the chamfer angle of the insert, which traditionally has been 45 degree. First, the relationship between the fixed machine coordinate and the relative coordinate on the insert is derived. This transfer matrix is used to determine the new insert angle to maximize the flatness of the machined surface. A newly designed insert is manufactured, and used to carry out the experiment. It is proved that she insert designed by the proposed method produced a much flatter surface than a traditional one.

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STABILITY ANALYSIS OF COMPRESSIBLE BOUNDARY LAYER IN CURVILINEAR COORDINATE SYSTEM USING NONLINEAR PSE (비선형 PSE를 이용한 압축성 경계층의 안정성 해석)

  • Gao, B.;Park, S.O.
    • 한국전산유체공학회:학술대회논문집
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    • 2007.10a
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    • pp.134-140
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    • 2007
  • Nonlinear parabolized stability equations for compressible flow in general curvilinear coordinate system are derived to deal with a broad range of transition prediction problems on complex geometry. A highly accurate finite difference PSE code has been developed using an implicit marching procedure. Blasius flow is tested. The results of the present computation show good agreement with DNS data. Nonlinear interaction can make the T-S fundamental wave more unstable and the onset of its amplitude decay is shifted downstream relative to linear case. For nonlinear calculations, rather small difference in initial amplitude can produce large change during nonlinear region. Compressible secondary instability at Mach number 1.6 is also simulated and showed that 1.1% initial amplitude for primary mode is enough to trigger the secondary growth.

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Bundle Adjustment of Aerial Photographs using GCP Image Chip (영상칩 지상기준점을 이용한 항공사진 번들조정)

  • 김기홍;손홍규;김호성;백종하;이재원
    • Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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    • 2004.11a
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    • pp.239-243
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    • 2004
  • Recently various thematic maps and image maps using aerial photograph and satellite imagery are frequently made. The geo-referencing is essential to make image map and topographic map using aerial photograph and satellite imagery. For this geo-referencing, Ground Control Points (GCPs) are needed. In this paper, we used GPS relative positioning to measure GCP ground coordinate and the accuracy of 8cm level was achieved. We made GCP image chips for the efficiency of geo-referencing and carried out the bundle adjustment of aerial photographs using GCP image chips to acquire the GCP photo coordinate with image matching technique. Finally we analyzed the accuracy of bundle adjustment compared to the accuracy of the case in using digital maps to acquire GCP photo coordinate.

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A Nonlinear Reduced Order Observer Design and Its Application to Ball and Beam System (비선형 저차화 관측기의 설계기법 및 구보시스템에의 적용)

  • 조남훈
    • The Transactions of the Korean Institute of Electrical Engineers D
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    • v.53 no.9
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    • pp.630-637
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    • 2004
  • In this paper, we present a local reduced-order observer for a class of nonlinear systems that have full robust relative degree. The proposed observer utilizes the coordinate change which transforms a nonlinear system into an approximate normal form. The proposed reduce order observer is applied to a ball and beam system, and simulation results show that substantial improvement in the performance was achieved compared with the jacobian linearization observers.

Multibody Dynamics Formulation based on Relative Cartesian Coordinates for Subsystem Dynamic Analysis (부분 시스템 해석을 위한 상대 직교 좌표를 이용한 다물체 동역학 공식)

  • Kim, Sung-Soo;Song, Kum-Jung;Huh, Jae-Young
    • Proceedings of the KSME Conference
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    • 2004.04a
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    • pp.899-904
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    • 2004
  • Multibody dynamics formulation has been developed based on relative cartesian coordinates for subsystem analysis. Relative cartesian coordinates are defined with respect to a reference body of a subsystem. Relative cartesian formulation inherits the same merits of absolute cartesian formulation, such as generality and easy implementation. Two methods have been applied. One is Largrange Multiplier Elimination method and the other is independent coordinate method. A 1/4 car simulation has been carried out to verify the formulations. Since both methods provide identical results, it proves the validity of the formulation.

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Motivating Curls

  • Mathewa;Jerold;Kim, Min-Kyeong
    • Research in Mathematical Education
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    • v.4 no.2
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    • pp.57-62
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    • 2000
  • we motivate the of the velocity field of a fluid in three ways: from a calculation of the velocity of a rotating fluid relative to a coordinate system rotating with the fluid and from two calculations of a vector form of circulation in small circles or spheres suspended in a moving fluid.

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