• Journal of Institute of Control, Robotics and Systems
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• v.18 no.11
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• pp.1011-1017
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• 2012

Augmented Reality is being widely used not only for Smartphone users but also in industries such as maintenance, construction area. With smartphone, due to the low localization accuracy and the requirement of special infrastructure, current LBS (Localization Based Service) is limited to show P.O.I. (Point of Interest) nearby. Improvement of IMU (Inertial Measurement Unit) based deadreckoning is presented in this paper. Additional sensors such as the magnetic compass and magnetic flux sensors are used as well as the accelerometer and the gyro for getting more movement information. Based on the pedestrian movement, appropriate sensor information is selected and the complementary filter is used in order to enhance the accuracy of the localization. Additional sensors are used to measure the movements of the upper body and the head and to provide the user's line of sight.

• Proceedings of the KSRS Conference
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• 2008.10a
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• pp.18-21
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• 2008

Lee (2008) proposed the pansharpening method to reconstruct at the higher resolution the multispectral images which agree with the spectral values observed from the sensor of the lower resolution values. It outperformed over several current techniques for the statistical analysis with quantitative measures, and generated the imagery of good quality for visual interpretation. However, if a small object stretches over two adjacent pixels with different spectral characteristics at the lower resolution, the pixels of the object at the higher resolution may have different multispectral values according to their location even though they have a same intensity in the panchromatic image of higher resolution. To correct this problem, this study employed an iterative technique similar to the image restoration scheme of Point-Jacobian iterative MAP estimation. The effect of pansharpening on image segmentation/classification was assessed for various techniques. The method was applied to the IKONOS image acquired over the area around Anyang City of Korea.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.947-954
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• 2012

Sand scorpions are nocturnal animals to mostly use tactile senses to detect their prey. It has been reported that sand scorpions have high vibration sensitivity for their prey-localizing behavior. We tested vibration experiments in the sand with microphone sensors to model the sand scorpion's behavior and a time-difference model was applied to find the direction of a vibration source. Using the information of the arrival time of the vibration signal to reach each leg position, we can find the location of the vibration source.

• The Journal of Korea Robotics Society
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• v.14 no.1
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• pp.14-21
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• 2019

In the ground environment, mobile robot research uses sensors such as GPS and optical cameras to localize surrounding landmarks and to estimate the position of the robot. However, an underwater environment restricts the use of sensors such as optical cameras and GPS. Also, unlike the ground environment, it is difficult to make a continuous observation of landmarks for location estimation. So, in underwater research, artificial markers are installed to generate a strong and lasting landmark. When artificial markers are acquired with an underwater sonar sensor, different types of noise are caused in the underwater sonar image. This noise is one of the factors that reduces object detection performance. This paper aims to improve object detection performance through distortion and rotation augmentation of training data. Object detection is detected using a Faster R-CNN.

• Journal of KIBIM
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• v.13 no.4
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• pp.64-73
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• 2023

This study introduces a method of estimating the 3D coordinates of structural damage from the detection results of visual inspection provided in 2D image coordinates using sensing data of UAV and 3D shape information of BIM. This estimation process takes place in a virtual space and utilizes the BIM model, so it is possible to immediately identify which member of the structure the estimated location corresponds to. Difference from conventional structural damage localization methods that require 3D scanning or additional sensor attachment, it is a method that can be applied locally and rapidly. Measurement accuracy was calculated through the distance difference between the measured position measured by TLS (Terrestrial Laser Scanner) and the estimated position calculated by the method proposed in this study, which can determine the applicability of this study and the direction of future research.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.3
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• pp.352-361
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• 2021

An underwater positioning method that can be applied to structures for underwater construction is being developed at the Korea Institute of Ocean Science and Technology. The method uses an extended Kalman filter (EKF) based on an inertial navigation system for precise and continuous position estimation. The observation matrix was configured to be variable in order to apply asynchronous measured sensor data in the correction step of the EKF. A Doppler velocity logger (DVL) can acquire signals only when attached to the bottom of an underwater structure, and it is difficult to install and recover. Therefore, a complex sensor device for underwater structure attachment was developed without a DVL in consideration of an underwater construction environment, installation location, system operation convenience, etc.. Its performance was verified through a water tank test. The results are the measured underwater position using an ultra-short baseline, the estimated position using only a position vector, and the estimated position using position/velocity vectors. The results were compared and evaluated using the circular error probability (CEP). As a result, the CEP of the USBL alone was 0.02 m, the CEP of the position estimation with only the position vector corrected was 3.76 m, and the CEP of the position estimation with the position and velocity vectors corrected was 0.06 m. Through this research, it was confirmed that stable underwater positioning can be carried out using asynchronous sensors without a DVL.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.9
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• pp.155-163
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• 2012

The geometrical and electrical errors of array sensors can severely degrade the performance of array sensor system. Various calibration techniques are developed to alleviate this problem. In this paper, two different calibration methods with respect to location, gain and phase of array sensors are presented. One method applies the first-order Taylor series expansion to approximate the true steering vector from the nominal values of array sensors. Then a set of equations is formed by using the null characteristics of the MUSIC spectrum to estimate errors of location, gain and phase of array sensors. Another method estimates these errors based on the data covariance matrix of pilot sources. From the simulations, it is demonstrated that two calibration algorithms calibrated an array system successfully. In addition to that, Fistas and Manikas's algorithm is more robust against noise than Ng and Lie's one when SNR is from 10dB to 50dB.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.3
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• pp.499-505
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• 2016

In this Paper, we propose a body-area localization technique based on WUSB (Wireless USB) over WBAN (Wireless Body Area Networks) protocol required for wearable computer systems. The proposed localization algorithm is executed on the basis of WUSB over WBAN protocol at each sensor node comprising peripherals of a wearable computer system. To increase the accuracy of input information through various body motions in wearable computer systems, a new localization technique with high precision must be developed. To achieve the goal, This paper proposes a combined TDoA/FDoA/AoA (Time Of Arrival/Time Difference Of Arrival/Angle Of Arrival) localization technique with more than four WUSB over WBAN devices to estimate body-area location accurately. The combined TDoA/FDoA/AoA technique reduces 10mm in location estimation errors comparing with a combined TDoA/FDoA technique. This performance enhancement in location error reduction can be ignored at other systems but is meaningful results in body-area localization-based communications.

• Journal of the Korean Society of Marine Environment & Safety
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• v.28 no.6
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• pp.1044-1053
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• 2022

Time domain reflectometry (TDR) is a diagnostic technique to evaluate the physical integrity of cable and finds application in leak detection and localization of piping system. In this study, a cable-shaped leak detection sensor was proposed using the TDR technique for monitoring leakage detection of ship's engine room seawater piping system. The cable sensor was developed using a twisted pair arrangement and wound by an absorbent material. The availability and performance of the sensor for leak detection and localization were evaluated on a lab-scale pipeline set up. The developed sensor was installed onto the pipes and flanges of the lab-scale set up and various TDR waveforms were acquired and analyzed according to the dif erent variables including the number of twists and sheath thickness. The result indicated that the twisted cable sensor was able to produce clear and smooth signal as compared to the TDR sensor with a parallel arrangement. The optimal number of twist was determined to be above 10 per the unit length. The optimal diameter of sheath thickness that results in the desired sensitivity was determined to be ranging from 80% up to 120% of the diameter of the conductor. The linear regression analysis for estimation of leak localization was carried out to estimate the location of the leakage, and the result was a determination coefficient of 0.9998, indicating a positive relationship with the actual leakage point. The proposed TDR based leak detection method appears to be an effective method for monitoring leakage of ship's seawater piping system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.12A
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• pp.1171-1180
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• 2010

In wireless sensor networks, reliable event detection is one of the most important research issues. For the reliable event detection, previous works usually assume the events are only individual objects such as tanks and soldiers. Recently, many researches focus on detection of continuous objects such as wild fire and bio-chemical material, but they merely aim at methods to reduce communication costs. Hence, we propose a reliable continuous object detection scheme. However, it might not be trivial. Unlike individual objects that could be referred as a point, a continuous object is shown in a dynamic two-dimensional diagram since it may cover a wide area and it could dynamically alter its own shape according to physical environments, e.g. geographical conditions, wind, and so on. Hence, the continuous object detection reliability can not be estimated by the indicator for individual objects. This paper newly defines the reliability indicator for continuous object detection and proposes an error recovery mechanism relying on the estimation result from the new indicator.