• Journal of KIISE
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• v.42 no.10
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• pp.1185-1194
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• 2015

A spherical panoramic image does not conform to the pin-hole camera model, and, hence, it is not possible to utilize previous techniques consisting of plane-to-plane transformation. In this paper, we propose a new method to estimate the planar geometric transformation between the planar image and a spherical panoramic image. Our proposed method estimates the transformation parameters for latitude, longitude, rotation and scaling factors when the matching pairs between a spherical panoramic image and a planar image are given. A planar image is projected into a spherical panoramic image through two steps of nonlinear coordinate transformations, which makes it difficult to compute the geometric transformation. The advantage of using our method is that we can uncover each of the implicit factors as well as the overall transformation. The experiment results show that our proposed method can achieve estimation errors of around 1% and is not affected by deformation factors, such as the latitude and rotation.

• Journal of Korean Ophthalmic Optics Society
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• v.4 no.2
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• pp.51-55
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• 1999

The eye movement of the eyeball's center of a rotation can represent with the rotation matrix $R_x$, $R_y$, $R_z$ due to a coordinate axis rotation transformation of Cartesian coordinate, and describes of an abduction, an adduction, an elevation, a depression, an intorsion, an extorsion in principle rotation six forms of the eye. The eye movement from primary eye position to tertiary eye position could be composed with the rotation matrix combination, and by the primary rotation of six and the secondary rotation of eight, could be represented with the extrocular muscle of six. The position of the cornea vertex point or pupil point due to the eye movement can describe to transform the rotation matrix of the cartesian coordinate to spherical coordinate$(r,{\theta},{\phi})$.

• Bulletin of the Korean Chemical Society
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• v.28 no.10
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• pp.1705-1708
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• 2007

Geometric manipulation of molecules is an essential elementary component in computational modeling programs for molecular structure, stability, dynamics, and design. The computational complexity of transformation of internal coordinates to Cartesian coordinates was discussed before.1 The use of rotation matrices was found to be slightly more efficient than that of quaternion although quaternion operators have been widely advertised for rotational operations, especially in molecular dynamics simulations of liquids where the orientation is a dynamical variable.2 The discussion on computational efficiency is extended here to a more general case in which bond angles and sidechain torsion angles are allowed to vary. The algorithm of Thompson3 is derived again in terms of quaternions as well as rotation matrices, and an algorithm with optimal efficiency is described. The algorithm based on rotation matrices is again found to be slightly more efficient than that based on quaternions.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.247-254
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• 2011

This paper presents a method of sonar grid map matching for topological place recognition. The proposed method provides an effective rotation invariant grid map matching method. A template grid map is firstly extracted for reliable grid map matching by filtering noisy data in local grid map. Using the template grid map, the rotation invariant grid map matching is performed by Ring Projection Transformation. The rotation invariant grid map matching selects candidate locations which are regarded as representative point for each node. Then, the topological place recognition is achieved by calculating matching probability based on the candidate location. The matching probability is acquired by using both rotation invariant grid map matching and the matching of distance and angle vectors. The proposed method can provide a successful matching even under rotation changes between grid maps. Moreover, the matching probability gives a reliable result for topological place recognition. The performance of the proposed method is verified by experimental results in a real home environment.

• MALSORI
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• no.65
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• pp.67-80
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• 2008

We have been building a text-independent speaker recognition system that is robust to unknown channel and noise environments. In this paper, we propose a linear transformation to obtain robust features. The transformation is optimized to maximize the distances between the Gaussian mixtures. We use rotation of the axes, to cope with the problem of scaling the transformation matrix. The proposed transformation is similar to PCA or LDA, but can achieve better result in some special cases where PCA and LDA can not work properly. We use YOHO database to evaluate the proposed method and compare the result with PCA and LDA. The results show that the proposed method outperforms all the baseline, PCA and LDA.

• Korean Journal of Optics and Photonics
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• v.5 no.3
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• pp.411-417
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• 1994

The electro-optic polarization transmission characteristics of a liquid crystal (LC) cell is represented by a rotational transformation on the Poincare sphere, and its characteristic parameters, the angle and the axis of the rotation, are experimentally determined with respect to the voltage applied to the LC cell. From the experimental data obtained, we determine driving voltage for the LC cell to give the rotation angle near $180^{\circ}$ of the rotation for the change of the state of the LC cell from non-select to select state, which is a necessary condition for the realization of maximally bright images. The directions of the transmission axes of the polarizer and the analyzer which form a liquid crystal display panel together with the LC cell, are determined from the general characteristics of the rotaional transformation of the LC cell. cell.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.9-14
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• 2006

The authors aim to establish the theory necessary for developing the free gyrocompass. The following considerations are taken. One is to suggest north-finding principle by the angular velocity of the earth's rotation, and the other is to suggest that the motion rate of the spin axis in the free gyro frame is transformed into the platform fame and this transformed rate is again transformed into the NED navigation frame. After transformation ship's heading is obtained using the fore-aft and athwartship components of the motion rate of the spin axis in the NED frame In addition it was suggested how to solve the transformation matrix necessary for transforming each frame.

• Proceedings of the IEEK Conference
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• 2005.11a
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• pp.711-714
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• 2005

We propose floating point arithmetic units for geometry operation of mobile 3D graphic processor. The proposed arithmetic units conform to the single precision format of IEEE standard 754-1985 that is a standard of floating point arithmetic. The rounding algorithm applies the nearest toward zero form. The proposed adder/subtraction unit and multiplier have one clock cycle latency, and the inversion unit has three clock cycle latency. We estimate the required numbers of arithmetic operation for Viewing transformation. The first stage of geometry operation is composed with translation, rotation and scaling operation. The translation operation requires three addition and the rotation operation needs three addition and six multiplication. The scaling operation requires three multiplication. The viewing transformation is performed in 15 clock cycles. If the adder and the multiplier have their own in/out ports, the viewing transformation can be done in 9 clock cycles. The error margin of proposed arithmetic units is smaller than $10^{-5}$ that is the request in the OpenGL standard. The proposed arithmetic units carry out operations in 100MHz clock frequency.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.6
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• pp.2054-2061
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• 2010

This paper suggests an algorithm for optimal positioning individuals(or observations) with p-dimensional measurements into coordinates of a two dimensional space. A criterion for optimizing the rotation is taken as the consistency of the grouping result obtained by the cluster analysis. This paper introduces the criterion and a transformation matrix for the orthogonal rotation. The criterion of the optimal positioning is that standard groups are placed in each quadrant of the positioning. An optimal angle of the orthogonal rotation is investigated and found by this criterions.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.39 no.2
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• pp.1-10
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• 2002

This paper presents the new template based human face recognition methods to improve the recognition performance against scale and in-plane rotation variations of face images. To enhance the recognition performance, the templates are generated by linear or nonlinear operation on multiple images including different scales and rotations of faces. As the invariant features to allow for scale and rotation variations of face images, we adopt the affine transformation, the log-polar mapping, and the log-polar image based FFT. The proposed recognition methods are evaluated in terms of the recognition rate and the processing time. Experimental results show that the proposed template based methods lead to higher recognition rate than the single image based one. The affine transformation based face recognition method shows marginally higher recognition rate than those of the log-polar mapping based method and the log-polar image based FFT, while, in the aspect of processing time, the log-polar mapping based method is the fastest one.