• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1934-1935
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• 2011

In order for a service robot to perform several tasks, basically autonomous navigation technique such as localization, mapping, and path planning is required. The localization (estimation robot's pose) is fundamental ability for service robot to navigate autonomously. In this paper, we propose a new system for point pattern matching based visual global localization using spot lightings in ceiling. The proposed algorithm us suitable for system that demands high accuracy and fast update rate such a guide robot in the exhibition. A single camera looking upward direction (called ceiling vision system) is mounted on the head of the mobile robot and image features such as lightings are detected and tracked through the image sequence. For detecting more spot lightings, we choose wide FOV lens, and inevitably there is serious image distortion. But by applying correction calculation only for the position of spot lightings not whole image pixels, we can decrease the processing time. And then using point pattern matching and least square estimation, finally we can get the precise position and orientation of the mobile robot. Experimental results demonstrate the accuracy and update rate of the proposed algorithm in real environments.

• Journal of the Korea Safety Management & Science
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• v.15 no.4
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• pp.317-321
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• 2013

Due to growth of electronics and control devices, automation and situational awareness systems have been applied by automobile. Vision systems with the introduction of unmanned system were being actively developed. In this paper, the distortion in the 7-inch LCD screen for the treatment process are divided into Online and Offline processing. Offline processing based on the image signal processing and for generating LUT Online to Offline generated by processing the distortion is applied to the LUT. LUT is applied to distort the image processing in real time, so that distortion correction is made for the purpose of setting.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2003.05c
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• pp.194-199
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• 2003

Depth error correction effect for maladjusted stereo cameras with calibrated pixel distance parameter is presented. The proposed neural network technique is the real time computation method based theory of inter-node diffusion for searching the safety distances from the sudden appearance-objects during the work driving. The main steps of the distance computation using the theory of stereo vision like the eyes of man is following steps. One is the processing for finding the corresponding points of stereo images and the other is the interpolation processing of full image data from nonlinear image data of objects. All of them request much memory space and time. Therefore the most reliable neural-network algorithm is derived for real-time matching of objects, which is composed of a dynamic programming algorithm based on sequence matching techniques.

• Journal of Information Processing Systems
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• v.15 no.5
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• pp.1082-1095
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• 2019

Camera calibration is an important part of machine vision and close-range photogrammetry. Since current calibration methods fail to obtain ideal internal and external camera parameters with limited computing resources on mobile terminals efficiently, this paper proposes an improved fast camera calibration method for mobile terminals. Based on traditional camera calibration method, the new method introduces two-order radial distortion and tangential distortion models to establish the camera model with nonlinear distortion items. Meanwhile, the nonlinear least square L-M algorithm is used to optimize parameters iteration, the new method can quickly obtain high-precise internal and external camera parameters. The experimental results show that the new method improves the efficiency and precision of camera calibration. Terminals simulation experiment on PC indicates that the time consuming of parameter iteration reduced from 0.220 seconds to 0.063 seconds (0.234 seconds on mobile terminals) and the average reprojection error reduced from 0.25 pixel to 0.15 pixel. Therefore, the new method is an ideal mobile terminals camera calibration method which can expand the application range of 3D reconstruction and close-range photogrammetry technology on mobile terminals.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.9
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• pp.617-625
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• 2022

This study investigates the use of movable calibration target for gyroscopic and accelerometer bias compensation of inertial measurement units for firing lane alignment. Calibration source is detected with the help of vision sensor and its information in fused with other sensors on launcher for error correction. An algorithm is proposed and tested in simulation. It has been shown that it is possible to compensate sensor biases in firing launcher in few seconds by accurately estimating the location of calibration target in inertial frame of reference.

• The Journal of the Korea institute of electronic communication sciences
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• v.13 no.5
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• pp.1117-1124
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• 2018

Contrast enhancement plays an important role in various computer vision systems, since their usability can be improved with visibility enhancement of the images affected by weather and lighting conditions. This paper introduces a histogram modification algorithm that reflects the properties of original images in order to eliminate the saturation effect and washed-out of image details due to the over-enhancement. Our method modifies the original histogram so that an additive term fill histogram pits and the gamma correction suppresses histogram spikes. The parameters for the additive term and gamma correction are adjusted automatically according to statistical properties of the images. Experimental results for various low contrast and hazy images demonstrate that the proposed contrast enhancement improves visibility and reduces haze components effectively, while preserving the characteristics of original images, than the conventional methods.

• The Journal of Korea Robotics Society
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• v.7 no.2
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• pp.120-128
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• 2012

The loop closure problem is one of the most challenging issues in the vision-based simultaneous localization and mapping community. It requires the robot to recognize a previously visited place from current camera measurements. While the loop closure often relies on visual bag-of-words based on point features in the previous works, however, in this paper we propose a line-based method to solve the loop closure in the corridor environments. We used both the floor line and the anchored vanishing point as the loop closing feature, and a two-step loop closure algorithm was devised to detect a known place and perform the global pose correction. We propose an anchored vanishing point as a novel loop closure feature, as it includes position information and represents the vanishing points in bi-direction. In our system, the accumulated heading error is reduced using an observation of a previously registered anchored vanishing points firstly, and the observation of known floor lines allows for further pose correction. Experimental results show that our method is very efficient in a structured indoor environment as a suitable loop closure solution.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.7
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• pp.29-37
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• 2020

In the past, meta-heuristic optimization algorithms were developed to solve the problems caused by complex nonlinearities occurring in natural phenomena, and various studies have been conducted to examine the applicability of the developed algorithms. The self-adaptive vision correction algorithm (SAVCA) showed excellent performance in mathematics problems, but it did not apply to complex engineering problems. Therefore, it is necessary to review the application process of the SAVCA. The SAVCA, which was recently developed and showed excellent performance, was applied to the advanced Muskingum flood routing model (ANLMM-L) to examine the application and application process. First, initial solutions were generated by the SAVCA, and the fitness was then calculated by ANLMM-L. The new value selected by a local and global search was put into the SAVCA. A new solution was generated, and ANLMM-L was applied again to calculate the fitness. The final calculation was conducted by comparing and improving the results of the new solution and existing solutions. The sum of squares (SSQ) was used to calculate the error between the observed and calculated runoff, and the applied results were compared with the current models. SAVCA, which showed excellent performance in the Muskingum flood routing model, is expected to show excellent performance in a range of engineering problems.

• Journal of Korean Society for Geospatial Information Science
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• v.23 no.3
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• pp.41-47
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• 2015

To determine the accurate height, it should be considered geometric height difference obtained by levelling as well as the physical height difference what so called orthometric correction. The orthometric correction amount is small enough to ignore at flatland but the amount is big at high mountains, so it should be considered to obtain accurate height at high mountains. But the calculation process is difficult and complex, not easy to calculate. So, to make the process easy using a user-friendly visual, a orthometric correction calculation program Ortho-Calc. v1.0 was developed in this study. This program was adopted the algorithm of Nassar and Hwang & Hsiao, and Strang Van Hees and it could be to selectivily calculate the correction amount. The inspection result exhibited high accuracy with the standard deviation of 0.024mm by the comparison of previous study. Therefore, This program Ortho-Calc. v1.0 developed in this study, will contribute orthometric correction calculation quickly and easily. And, if this program is widely popular, it could be expected to make a contribution the Benchmark's official height renewal using orthometric correction.

• IEIE Transactions on Smart Processing and Computing
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• v.3 no.5
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• pp.306-312
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• 2014

The arcade gun has been a popular game controller in the video game market from the 1970s. The arcade gun, which is used partially in game centers and domestic games, recently is utilized as the interface for the interactive system and tangible media. On the other hand, the existing arcade gun has limits on hardware so it is unsuitable for wide screens. In addition, being platform-dependent, it is inapplicable to various types of content as a single module. This study suggests a correction algorithm that establishes an arcade gun system based on an infrared camera to solve those drawbacks and apply to possibly numerous surroundings.