• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.94-102
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• 2021

This study addresses a method for 3D reconstruction using acoustic data with heterogeneous sonar devices: Forward-Looking Multibeam Sonar (FLMS) and Profiling Sonar (PS). The challenges in sonar image processing are perceptual ambiguity, the loss of elevation information, and low signal to noise ratio, which are caused by the ranging and intensity-based image generation mechanism of sonars. The conventional approaches utilize additional constraints such as Lambertian reflection and redundant data at various positions, but they are vulnerable to environmental conditions. Our approach is to use two sonars that have a complementary data type. Typically, the sonars provide reliable information in the horizontal but, the loss of elevation information degrades the quality of data in the vertical. To overcome the characteristic of sonar devices, we adopt the crossed installation in such a way that the PS is laid down on its side and mounted on the top of FLMS. From the installation, FLMS scans horizontal information and PS obtains a vertical profile of the front area of AUV. For the fusion of the two sonar data, we propose the probabilistic approach. A likelihood map using geometric constraints between two sonar devices is built and a monte-carlo experiment using a derived model is conducted to extract 3D points. To verify the proposed method, we conducted a simulation and field test. As a result, a consistent seabed map was obtained. This method can be utilized for 3D seabed mapping with an AUV.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.55 no.1
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• pp.39-49
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• 2019

Acoustics are increasingly regarded as a remote-sensing tool that provides the basis for classifying and mapping ocean resources including seabed classification. It has long been understood that details about the character of the seabed (roughness, sediment type, grain-size distribution, porosity, and material density) are embedded in the acoustical echoes from the seabed. This study developed a sophisticated yet easy-to-use technique to discriminate seabed characteristics using a split beam echosounder. Acoustic survey was conducted in Tongyeong waters, South Korea in June 2018, and the verification of acoustic seabed classification was made by the Van Veen grab sampler. The acoustic scattering signals extracted the seabed hardness and roughness components as well as various seabed features. The seabed features were selected using the principal component analysis, and the seabed classification was performed by the K-means clustering. As a result, three seabed types such as sand, mud, and shell were discriminated. This preliminary study presented feasible application of a sounder to classify the seabed substrates. It can be further developed for characterizing marine habitats on a variety of spatial scales and studying the ecological characteristic of fishes near the habitats.

• Spatial Information Research
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• v.17 no.1
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• pp.103-115
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• 2009

Recently, the seabed facility is gradually being increased based on the development of harbor and the coastal area. However, the comparison between the survey data with the chart still shows the significant differences leading to various disasters over sea accident. Therefore, in this study, the investigation on the seabed facility were performed in 5 areas through an accuracy analysis using an up-to-date surveying equipment(MBES, SSS and SBP). Based on the study more systematic management on the seabed facility, more accurate method on the surveying, and some considerations on the related policies are suggested. Through the study, we obtained more accurate measurement on depth and seabed piping forms in Jakdo and Pyong-tack, on sunken ship in a Mok-po, on seabed crater in Je-ju. In addition, it was possible to present the method for the construction of information infra and a connection with the seabed facility. The criteria on the equipment's specification, surveying method and procedures are set by the experiments and the investigation and surveying accuracy on the seabed facilities are also suggested.

• Economic and Environmental Geology
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• v.56 no.2
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• pp.115-123
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• 2023

We introduce a new 'image-mapping' in-situ U-Pb dating method using LA-ICP-MS, proposed by Drost et al. (2018), and show the characteristics and usability of this method through several examples of absolute age results determined by first applying it to samples from the Joseon Supergroup of the Early Paleozoic Era in Korea. Unlike the previous in-situ spot analysis, this in-situ U-Pb dating method for carbonate minerals can determine the absolute age with high reliability by applying the 'image-mapping' method of micro-sized domains based on micro-textural observation, as well as determine the absolute age of multiple geological 'events' that occurred after deposition. This was confirmed in the case of determining the syn-depositional age and the multiple post-depositional ages from carbonate minerals of the Makgol and the Daegi Formations. Therefore, if the 'image-mapping' in-situ U-Pb dating method is applied to determine the absolute age of various types of carbonate minerals that exist in various geological environments throughout the geologic era, it will be possible to secure new geological age information.

• Ocean and Polar Research
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• v.36 no.2
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• pp.179-187
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• 2014

Directly searching for undiscovered hydrothermal vent sites is inefficient due to the practical difficulty of comprehensively imaging vent fields. Thus, most searches for hydrothermal vent sites rely on the detection of hydrothermal plumes from water column observation. Detecting and measuring the hydrothermal plumes are the most efficient way to infer the presence and distribution of hydrothermal vents. Both the array of vertical casting and lateral towing are the most common methods to discover hydrothermal plumes. In this study, we compared results of cast and tow-yo operations along the same section of a spreading center with a distance of 20.5 km in the North Fiji Basin for mapping hydrothermal plumes. Operation of CTD tow-yo provides a detailed pattern of plumes which enable us to locate the hydrothermal vents. On the other hand, identification of hydrothermal activity can be determined effectively by CTD cast with additional analysis of geochemical tracers. Reduction in the operating time is another advantage of CTD cast operation, especially for regional-scale survey. Our results show that the combination of CTD cast and tow-yo would improve the efficiency of the hydrothermal plume survey to locate new hydrothermal vent sites.

• Korean Journal of Remote Sensing
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• v.37 no.4
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• pp.687-698
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• 2021

We present quantitative estimations of changes in the areal extent of coral reef habitats at Weno Island, Micronesia, using high-spatial-resolution remote sensing images and field observations. Coral reef habitat maps were generated from Kompsat-2 satellite images for September 2008 and September 2010, yielding classifications with 78.6% and 72.4% accuracy, respectively, which is a relatively high level of agreement. The difference between the number of pixels occupied by each seabed type was calculated, revealing that the areal extent of living corals decreased by 8.2 percentage points between 2008 and 2010. This result is consistent with a comparison of the seabed types determined by field observations. This study can be used as a basis for remediation planning to diminish the impact of changes in coral reefs.

• Economic and Environmental Geology
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• v.49 no.5
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• pp.381-388
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• 2016

The purpose of this study is to integrate and visualize using mapping techniques based on precise seabed geomorphology, seafloor backscattering images and high-resolution underwater images of the nearshore area around the Dokdo, in the East Sea. We have been obtained the precise topography map using multibeam echosounder system around the nearshore area(~50 m) of the southern part of the Seodo. Side scan sonar survey for analysis seafloor backscattering images was carried out in the same area of topography data. High-resolution underwater images(zone(a), zone(b), zone(c)) were taken in significant habitat scope of the nearshore area of the southern part of the Seodo. Using the results of bathymetry, seafloor backscattering images, high-resolution underwater images, we performed an integrated visualization about the nearshore area of the Dokdo. The integrated visualizing techniques are possible to make the seabed characteristic mapping results of the nearshore area of the Dokdo. The integrated visualization results present more complex and reliable information than separate geological products for seabed environmental mapping study and it is useful to understand the relation between seafloor characteristics and topographic environments of the study area. The integrated visualizing techniques and mapping analysis need to study sustainably and periodically, for effective monitoring of the nearshore ecosystem of the Dokdo.

• Ocean and Polar Research
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• v.36 no.4
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• pp.373-381
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• 2014

Korea contract Mn-nodule field in the NE equatorial Pacific is composed of seven sectors with average water depths of 4,513-5,025 m. Of the various factors controlling the properties of Mn-nodule, it seems that water depth is likely connected to the chemical composition and occurrence of nodules. To test whether such an assumption held in each sector, we reviewed previous research data accumulated since 1994 for one of the northern sectors (hereafter KR1) where there are stark contrasts in water depth. High-resolution seabed mapping clearly separates a northern part (KR1N) from a deeper southern part (KR1S), cutting across in the middle of the KR1. In addition, significant volcanic activities forming numerous seamounts are distinctive especially in KR1N. In terms of nodule occurrence, manganese nodules in KR1S are comparatively larger (2-4 cm) with a discoidal shape, while those in KR1N are generally small (<2 cm) with poly-lobate and irregular shapes. Nodules in KR1N also have lower Co, Cu, Mn and Ni, and higher Fe contents. The spatial separation in nodule characteristics might be caused by volcanic activities in KR1N rather than water depth contrast. During the formation of the seamounts in KR1N, rock fragments and volcanic ashes as new nuclei of the nodules would have been continuously generated. As a result, the nodules could not grow larger than 2 cm and display the shapes of a newbie (i.e., irregular and poly-lobate shapes). Moreover, significant Fe supply from volcanic activities probably decreases the Mn/Fe ratio, which may lead to the KR1 nodules being misinterpreted as a hydrogenic in origin compared to other sectors where a high Mn/Fe ratio is present.

• Economic and Environmental Geology
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• v.45 no.5
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• pp.477-486
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• 2012

High-resolution bathymetry and physico-chemical properties of manganese nodules were explored to identify the relationship between morphological features and nodule occurrences in the KR1, one of the Korean contract nodule fields located in the NE Pacific. The high-resolution seabed mapping showed that the southwestern sector of the KR1 (KR1-1) was relatively deeper than the northeastern sector (KR1-2) which is occupied by small-scale seamounts. In terms of nodule occurrence, manganese nodules in the KR1-1 were comparatively larger (2-4 cm) with rough surface (t-type) and discoidal shapes (D-type), while those in the KR1-2 were generally small (<2 cm) with smooth surface (s-type) and irregular shapes (I-type). In addition, the nodules in the KR1-1 had higher contents of Cu, Mn and Ni. Such connections of water depths to nodule appearances and metal contents are commonly observed in the Pacific nodule fields. On the other hand, the nodules in the KR1-2 tend to be controled by morphological features. The seamounts in the KR1-2 might continuously provide rock fragments as new nuclei of manganese nodules. As a result, the nodules could not grow over than 2 cm and showed the shapes of a newbie (i.e., smooth surface and irregular shapes). As a result, our observations indicate that occurrence features of manganese nodules could be subjected to water depths and seabed morphology simultaneously.

• The Journal of Korea Robotics Society
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• v.9 no.4
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• pp.197-205
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• 2014

As computer vision algorithms are developed on a continuous basis, the visual information from vision sensors has been widely used in the context of simultaneous localization and mapping (SLAM), called visual SLAM, which utilizes relative motion information between images. This research addresses a visual SLAM framework for online localization and mapping in an unstructured seabed environment that can be applied to a low-cost unmanned underwater vehicle equipped with a single monocular camera as a major measurement sensor. Typically, an image motion model with a predefined dimensionality can be corrupted by errors due to the violation of the model assumptions, which may lead to performance degradation of the visual SLAM estimation. To deal with the erroneous image motion model, this study employs a local bundle optimization (LBO) scheme when a closed loop is detected. The results of comparison between visual SLAM estimation with LBO and the other case are presented to validate the effectiveness of the proposed methodology.