• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.735-739
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• 2005

This paper presents a new system to estimate the head pose of human in interactive indoor environment that has dynamic illumination change and large working space. The main idea of this system is to suggest a new morphological feature for estimating head angle from stereo disparity map. When a disparity map is obtained from stereo camera, the matching confidence value can be derived by measurements of correlation of the stereo images. Applying a threshold to the confidence value, we also obtain the specific morphology of the disparity map. Therefore, we can obtain the morphological shape of disparity map. Through the analysis of this morphological property, the head pose can be estimated. It is simple and fast algorithm in comparison with other algorithm which apply facial template, 2D, 3D models and optical flow method. Our system can automatically segment and estimate head pose in a wide range of head motion without manual initialization like other optical flow system. As the result of experiments, we obtained the reliable head orientation data under the real-time performance.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.248-251
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• 1992

In this paper, the RedMAP, i.e. a redundant Mini-MAP system for high reliability is proposed. Redundancy is implemented for LLC, MAC, and Physical layer of ISL-Mini -MAP. The detection of error of the network, the broadcasting of the error event, and the network change sequence are three major functions for the dualized Mini-MAP system. The abnormal operation of the network is mainly detected indirectly with the function of the TBC( token bus controller). The time delay to be required for the change of the networks must be minimized. With the RedMAP, we can achieve successful transmission only with short additional recovery time.

• Journal of Korean Society for Geospatial Information Science
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• v.5 no.2 s.10
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• pp.207-220
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• 1997

This study aims to develope the production method of digital image map of high capable utiliy and terrain interpretability using aerial photo and Geospatial Information System. Theory and efficient practical method was studied to generate tile digital image map with low-cost personal computer system using the merging procedure of raster scanned aerial photo and vector topographic map. Determination theory of ground coordinates, digital image processing, production of digital elevation model was reviewed. And some chariteristics of digital image map, image collection method and significant concepts of digital image processing was studied. Also input and output way of image data to generate the digital image nap, production method of orthophoto map using aerial photo through digital differential rectification was studied. As the result, digital image map was produced and analyzed through the above mentioned procedures.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.17 no.4
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• pp.359-372
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• 1999

Recently, the digital map of national basemap has been made through NGIS(National Geographic Information System) project in Korea. The digital map should have to be corrected or updated to cope with the changes in topography in future. For that, the efficient method correspond with digital map should be presented. Digital photogrammetric system has been considered as an efficient method for digital mapping because it provides the results in digital form, but the system if not fully tested because the commercial system is in early stage. This study aims to present the way to correct or update digital map using the digital photogrammetric system. Digital mapping in the environment of digitalphotogrammetric system was executed and the results were analyzed and compared with those from analytical plotter.

• Journal of Korean Society for Geospatial Information Science
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• v.24 no.2
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• pp.37-46
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• 2016

The difference between definition time of GPS (Global Positioning System) position data and actual display time of car positions on a map could reduce the accuracy of car positions displayed in PND (Portable Navigation Device)-type CNS (Car Navigation System). Due to the time difference, the position of the car displayed on the map is not its current position, so an improved method to fix these problems is required. It is expected that a method that uses predicted future positionsto compensate for the delay caused by processing and display of the received GPS signals could mitigate these problems. Therefore, in this study an analysis was conducted to correct late processing problems of map positions by mapmatching using a Kalman filter with only GPS position data and a RRF (Road Reduction Filter) technique in a light-weight CNS. The effects on routing services are examined by analyzing differences that are decomposed into along and across the road elements relative to the direction of advancing car. The results indicate that it is possible to improve the positional accuracy in the along-the-road direction of a light-weight CNS device that uses only GPS position data, by applying a Kalman filter and RRF.

• Journal of Computational Design and Engineering
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• v.1 no.1
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• pp.48-54
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• 2014

In this paper, the authors propose a system for assisting mold designers of plastic parts. With a CAD model of a part, the system automatically determines the optimal ejecting direction of the part with minimum undercuts. Since plastic parts are generally very thin, many rib features are placed on the inner side of the part to give sufficient structural strength. Our system extracts the rib features from the CAD model of the part, and determines the possible ejecting directions based on the geometric properties of the features. The system then selects the optimal direction with minimum undercuts. Possible ejecting directions are represented as discrete points on a Gauss map. Our new point distribution method for the Gauss map is based on the concept of the architectural geodesic dome. A hierarchical structure is also introduced in the point distribution, with a higher level "rough" Gauss map with rather sparse point distribution and another lower level "fine" Gauss map with much denser point distribution. A system is implemented and computational experiments are performed. Our system requires less than 10 seconds to determine the optimal ejecting direction of a CAD model with more than 1 million polygons.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.05a
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• pp.801-804
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• 2009

In this paper, the Linux kernel memory map was analyzed as the approach to Improving performance for Embedded Linux system. Since the Linux kernel memory map supporting a stability and various H/W platforms and in which it becomes to the general purpose system with optimization manages the role of being important in the booting time and the efficient system utilization of resources, the analysis of the kernel memory map is required for the performance improvement of the Embedded Linux system in which it is restrictive the resources. According to the analysis result, and of the Linux kernel memory, the booting speed of and improvement of the memory efficiency were confirmed. It is therefore considered that the proposed in this paper and kernel memory allocation method are suitable to the memory availability improvement of the Embedded Linux system.

• The Journal of Korea Robotics Society
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• v.9 no.2
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• pp.104-110
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• 2014

Mapping is a fundamental element for robotic services. There are available many types of map data representation such as grid map, metric map, topology map, etc. As more robots are deployed for services, more chances of exchanging map data among the robots emerge and standardization of map data representation (MDR) becomes more valuable. Currently, activities in developing MDR standard are underway in IEEE Robotics and Automation Society. The MDR standard is for a common representation and encoding of the two-dimensional map data used for navigation by mobile robots. The standard focuses on interchange of map data among components and systems, particularly those that may be supplied by different vendors. This paper aims to introduce MDR standard and its application to map merging. We have applied the basic structure of the MDR standard to a grid map and Voronoi graph as a kind of topology map and performed map merging between two different maps. Simulation results show that the proposed MDR is suitable for map data exchange among robots.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.41 no.4
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• pp.138-145
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• 2018

In the field of optimization, many studies have been performed on various types of Vehicle Routing Problem (VRP) for a long time. A variety of models have been derived to extend the basic VRP model, to consider multiple truck terminal, multiple pickup and delivery, and time windows characteristics. A lot of research has been performed to find better solutions in a reasonable time for these models with heuristic approaches. In this paper, by considering realtime traffic characteristics in Map Navigation environment, we proposed a method to manage realistic optimal path allocation for the logistics trucks and cargoes, which are dispersed, in order to realize the realistic cargo mixing allowance and time constraint enforcement which were required as the most important points for an online logistics brokerage service company. Then we developed a prototype system that can support above functionality together with delivery status monitoring on Map Navigation environment. First, through Map Navigation system, we derived information such as navigation-based travel time required for logistics allocation scheduling based on multiple terminal multiple pickup and delivery models with time constraints. Especially, the travel time can be actually obtained by using the Map Navigation system by reflecting the road situation and traffic. Second, we made a mathematical model for optimal path allocation using the derived information, and solved it using an optimization solver. Third, we constructed the prototype system to provide the proposed method together with realtime logistics monitoring by arranging the allocation results in the Map Navigation environment.

• Journal of Biosystems Engineering
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• v.24 no.2
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• pp.135-144
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• 1999

An yield monitoring system plays a key role in precision farming. An yield monitoring system and a DGPS were implemented to a widely used domestic combine for yield mapping of a small sized paddy field, and yield mapping algorithms were investigated in this study. The yield variation in the 0.1ha rice paddy field was measured by installing a yield flow sensor and a grain moisture sensor at the end of the clean grain elevator discharging grains into a grain tank. Yield map of the test filed was drawn in a point map and a linear interpolated map based on the result of the field test. The size of a unit yield grid in yield mapping was determined based on the combine traveling speed, effective harvesting width and data storing period. It was possible to construct the yield map of a small sized paddy field.