• Journal of the Korea Society of Computer and Information
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• v.11 no.1 s.39
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• pp.177-184
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• 2006

The sensors in a ubiquitous network are limited because of the low power and ultra light weight, so many studies have revolved around the sensor. This study improves the process of the registration and authorization and suggests a way to minimize discloser of privacy by using an alias. We introduce RA(Relay Agent) for the restrict function of sensor node, and improve anonymity for private information of each sensor node by assigning alias from SM(Service Manager) in procedure of registration and authentication. The privacy of sensor node is secure in procedure of registration, authentication, and communication between nodes. We could improve the level of security with the only partial increment of computation power of RA and SM without an increase in the amount of sensor nodes.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.48 no.6
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• pp.114-122
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• 2011

We propose an automatic localization technique based on Uniform Arc Length Sampling (UALS) of 360 degree range sensor data. The proposed method samples 3D points from dense a point-cloud which is acquired by the sensor, registers the sampled points to a digital surface model(DSM) in real-time, and determines the location of an Unmanned Ground Vehicle(UGV). To reduce the sampling and registration time of a sequence of dense range data, 3D range points are sampled uniformly in terms of ground sample distance. Using the proposed method, we can reduce the number of 3D points while maintaining their uniformity over range data. We compare the registration speed and accuracy of the proposed method with a conventional sample method. Through several experiments by changing the number of sampling points, we analyze the speed and accuracy of the proposed method.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.39 no.1
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• pp.13-21
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• 2021

High-resolution satellites such as Kompsat-3 and CAS-500 include optical cameras of MS (Multispectral) and PAN (Panchromatic) CCD (Charge Coupled Device) sensors installed with certain offsets. The offsets between the CCD sensors produce geometric discrepancy between MS and PAN images because a ground target is imaged at slightly different times for MS and PAN sensors. For precise pan-sharpening process, we propose a co-registration process consisting the physical sensor modeling and image matching. The physical sensor model enables the initial co-registration and the image matching is carried out for further refinement. An experiment with Kompsat-3 images produced RMSE (Root Mean Square Error) 0.2pixels level of geometric discrepancy between MS and PAN images.

• Korean Journal of Remote Sensing
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• v.38 no.6_4
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• pp.1901-1910
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• 2022

Arriving in the new space age, securing technology for fusion application of KOMPSAT-3·3A and global satellite images is becoming more important. In general, multi-sensor satellite images have relative geometric errors due to various external factors at the time of acquisition, degrading the quality of the satellite image outputs. Therefore, we propose a fine-image registration methodology to minimize the relative geometric error between KOMPSAT-3·3A and global satellite images. After selecting the overlapping area between the KOMPSAT-3·3A and foreign satellite images, the spatial resolution between the two images is unified. Subsequently, tie-points are extracted using a hybrid matching method in which feature- and area-based matching methods are combined. Then, fine-image registration is performed through iterative registration based on pyramid images. To evaluate the performance and accuracy of the proposed method, we used KOMPSAT-3·3A, Sentinel-2A, and PlanetScope satellite images acquired over Daejeon city, South Korea. As a result, the average RMSE of the accuracy of the proposed method was derived as 1.2 and 3.59 pixels in Sentinel-2A and PlanetScope images, respectively. Consequently, it is considered that fine-image registration between multi-sensor satellite images can be effectively performed using the proposed method.

• Korean Journal of Remote Sensing
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• v.34 no.5
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• pp.739-747
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• 2018

Integration analysis of multi-sensor satellite images is becoming increasingly important. The first step in integration analysis is image registration between multi-sensor. SIFT (Scale Invariant Feature Transform) is a representative image registration method. However, optical image and SAR (Synthetic Aperture Radar) images are different from sensor attitude and radiation characteristics during acquisition, making it difficult to apply the conventional method, such as SIFT, because the radiometric characteristics between images are nonlinear. To overcome this limitation, we proposed a modified method that combines the SAR-SIFT method and shape descriptor vector DLSS(Dense Local Self-Similarity). We conducted an experiment using two pairs of Cosmo-SkyMed and KOMPSAT-2 images collected over Daejeon, Korea, an area with a high density of buildings. The proposed method extracted the correct matching points when compared to conventional methods, such as SIFT and SAR-SIFT. The method also gave quantitatively reasonable results for RMSE of 1.66m and 2.45m over the two pairs of images.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.4 no.3
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• pp.174-181
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• 2011

A new registration method for IR image and EO image is proposed in this paper. IR sensor is applicable to many area because it absorbs thermal radiation energy unlike EO sensor does. However, IR sensor has difficulty to extract and match features due to low contrast compared to EO image. In order to register both images, we used modified SIFT(Scale Invariant Feature Transform) and block processing to increase feature distinctiveness. To remove outlier, we applied RANSAC(RANdom SAample Concensus) for each block. Finally, we unified matching features into single coordinate system and remove outlier again. We used 3~5um range IR image, and our experiment result showed good robustness in registration with IR image.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.6
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• pp.28-34
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• 2020

This paper proposes an approach to the fusion of two heterogeneous sensors with two different fields-of-view (FOV): LIDAR and an RGB camera. Registration between data captured by LIDAR and an RGB camera provided the fusion results. Registration was completed once a depthmap corresponding to a 2-dimensional RGB image was generated. For this fusion, RPLIDAR-A3 (manufactured by Slamtec) and a general digital camera were used to acquire depth and image data, respectively. LIDAR sensor provided distance information between the sensor and objects in a scene nearby the sensor, and an RGB camera provided a 2-dimensional image with color information. Fusion of 2D image and depth information enabled us to achieve better performance with applications of object detection and tracking. For instance, automatic driver assistance systems, robotics or other systems that require visual information processing might find the work in this paper useful. Since the LIDAR only provides depth value, processing and generation of a depthmap that corresponds to an RGB image is recommended. To validate the proposed approach, experimental results are provided.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.35 no.3
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• pp.125-132
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• 2017

Even after applying an image registration, Very High Resolution (VHR) multi-temporal images acquired from different optical satellite sensors such as IKONOS, QuickBird, and Kompsat-2 show a local misalignment due to dissimilarities in sensor properties and acquisition conditions. As the local misalignment, also referred to as Registration Noise (RN), is likely to have a negative impact on multi-temporal information extraction, detecting and reducing the RN can improve the multi-temporal image processing performance. In this paper, an approach to fine registration between VHR multi-temporal images by considering local distribution of RN is proposed. Since the dominant RN mainly exists along boundaries of objects, we use edge information in high frequency regions to identify it. In order to validate the proposed approach, datasets are built from VHR multi-temporal images acquired by optical satellite sensors. Both qualitative and quantitative assessments confirm the effectiveness of the proposed RN-based fine registration approach compared to the manual registration.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.1 s.94
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• pp.253-264
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• 1999

Most autonomous mobile robots view only things in front of them, and as a result, they may collide with objects moving from the side or behind. To overcome this problem. an Active Omni-directional Range Sensor System has been built that can obtain an omni-directional range data through the use of a laser conic plane and a conic mirror. Also, mobile robot has to know its current location and heading angle by itself as accurately as possible to successfully navigate in real environments. To achieve this capability, we propose a self-localization algorithm of a mobile robot using an active omni-directional range sensor in an unknown environment. The proposed algorithm estimates the current position and head angle of a mobile robot by a registration of the range data obtained at two positions, current and previous. To show the effectiveness of the proposed algorithm, a series of simulations was conducted and the results show that the proposed algorithm is very efficient, and can be utilized for self-localization of a mobile robot in an unknown environment.

• Korean Journal of Computational Design and Engineering
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• v.17 no.3
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• pp.198-207
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• 2012

This paper presents an overview of automated robotic system for skull drilling, which is performed to access for some neurosurgical interventions, such as brain tumor resection. Currently surgeons use automatic-releasing cranial perforators. The drilling procedure must be performed very carefully to avoid penetration of brain nerve structures; however failure cases are reported. The presented prototype system utilizes both preoperative and intraoperative information. Preoperative CT image is used for robot path planning. A NeuroMate robot with a six-DOF force sensor at the end effector is used for intraoperative operation. Intraoperative cutting force from the force sensor is the key information to revise an initial registration and preoperative path plans. Some possibilities are verified by path simulation but cadaver experiments are required for validation of this prototype.