• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.70-77
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• 2014

This paper proposes a novel localization algorithm based on ego-motion which used Lucas-Kanade Optical Flow and warping image obtained through fish-eye lenses mounted on the robots. The omnidirectional image sensor is a desirable sensor for real-time view-based recognition of a robot because the all information around the robot can be obtained simultaneously. The preprocessing (distortion correction, image merge, etc.) of the omnidirectional image which obtained by camera using reflect in mirror or by connection of multiple camera images is essential because it is difficult to obtain information from the original image. The core of the proposed algorithm may be summarized as follows: First, we capture instantaneous $360^{\circ}$ panoramic images around a robot through fish-eye lenses which are mounted in the bottom direction. Second, we extract motion vectors using Lucas-Kanade Optical Flow in preprocessed image. Third, we estimate the robot position and angle using ego-motion method which used direction of vector and vanishing point obtained by RANSAC. We confirmed the reliability of localization algorithm using ego-motion based on fisheye warping image through comparison between results (position and angle) of the experiment obtained using the proposed algorithm and results of the experiment measured from Global Vision Localization System.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.11a
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• pp.337-342
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• 2004

A construction project of Incheon 2nd bridge, which is connected between the Incheon Song-Do New Town and the Incheon International Airport in Young-Jong-Do, have been proposed by the private capital in 1999. But the optimal span width in the bridge main span have not been decided in spite of the three investigations into the feasibility of ship's safe transit in this planned bridge. In this paper, we study the economic analysis on port operational efficiency according to traffic schemes, me-way or two-way of vessels over 10,000G/T, in the bridge main span of this bridge. In this comparative result, total queueing time due to the one-way in the bridge main span is evaluated 20,362 hours in 2011 and 24,544 hours in 2020. Therefore the demurrage cost and the accumulation cost of freight are evaluated 19.7 billion won in 2011, and 23.3 billion won in 2020, then total accumulated costs during 33 years from 2008 until 2040 are evaluated about 768..9 billion won.

• Journal of Navigation and Port Research
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• v.29 no.1 s.97
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• pp.65-69
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• 2005

A construction project of Incheon 2nd bridge, which is connected between the Incheon Song-Do New Town and the Incheon International Airport in Young-Jong-Do, has been proposed by the private capital in 1999. But the optimal width of the main span has not been decided in spite of the three investigations into the feasibility of ship's safe transit in this planned bridge. In this paper, we study the economic analysis on port operational efficiency according to traffic schemes, one-way or two-way of vessels over 10,000G/T, in the main span of this bridge. In this comparative result, total queueing time due to the one-way in the bridge main span is evaluated 20,362 hours in 2011 and 24,544 hours in 2020. Therefore the demurrage cost and the accumulation cost of freight are evaluated 19.7 billion won in 2011, and 23.3 billion won in 2020, then total accumulated costs during 33 years from 2008 until 2040 are evaluated about 768.9 billion won.