• Advances in robotics research
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• v.1 no.2
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• pp.127-140
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• 2014

This work presents an IR-based system for parking assistance and obstacle detection in the automotive field that employs the Microsoft Kinect camera for fast 3D point cloud reconstruction. In contrast to previous research that attempts to explicitly identify obstacles, the proposed system aims to detect "reachable regions" of the environment, i.e., those regions where the vehicle can drive to from its current position. A user-friendly 2D traversability grid of cells is generated and used as a visual aid for parking assistance. Given a raw 3D point cloud, first each point is mapped into individual cells, then, the elevation information is used within a graph-based algorithm to label a given cell as traversable or non-traversable. Following this rationale, positive and negative obstacles, as well as unknown regions can be implicitly detected. Additionally, no flat-world assumption is required. Experimental results, obtained from the system in typical parking scenarios, are presented showing its effectiveness for scene interpretation and detection of several types of obstacle.

• International Journal of Internet, Broadcasting and Communication
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• v.10 no.4
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• pp.50-64
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• 2018

This paper describes a visual object detection approach utilizing ensemble based machine learning. Object detection methods employing 1D features have the benefit of fast calculation speed. However, for real image with complex background, detection accuracy and performance are degraded. In this paper, we propose an ensemble learning algorithm that combines a 1D feature classifier and 2D DNF (Disjunctive Normal Form) classifier to improve the object detection performance in a single input image. Also, to improve the computing efficiency and accuracy, we propose a feature selecting method to reduce the computing time and ensemble algorithm by combining the 1D features and 2D DNF features. In the verification experiments, we selected the Haar-like feature as the 1D image descriptor, and demonstrated the performance of the algorithm on a few datasets such as face and vehicle.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.829-830
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• 2008

In modern days, many of the images are captured by using various devices, such as PDA, digital camera, or cell phone camera. Because all these devise have a limited dynamic range, images captured in real world scenes with high dynamic ranges usually exhibit poor visibility and low contrast, which may make important image features lost or hard to tell by human viewers. In this paper, the efficient color image enhancement method is presented. Experimental result show that the proposed method yields better performance of color enhancement over the previous work for test color images.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.101.1-101
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• 2001

This paper describes a grid mapping for a vision based mobile robot in uncertain indoor environment. The map building is a prerequisite for navigation of a mobile robot and the problem of feature correspondence across two images is well known to be of crucial Importance for vision-based mapping We use a stereo matching algorithm obtained by singular value decomposition of an appropriate correspondence strength matrix. This new correspondence strength means a correlation weight for some local measurements to quantify similarity between features. The visual range data from the reconstructed disparity image form an occupancy grid representation. The occupancy map is a grid-based map in which each cell has some value indicating the probability at that location ...

• Proceedings of the KSR Conference
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• 2005.05a
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• pp.269-273
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• 2005

Since adding design elements to train manufacturing technologies creates addition of high value, it is necessary to develop design for FRT with increased convenience of transportation by rail, which is a new paradigm. Therefore, an evaluation model for increasing convenience of the interior of FRT should draw the requirements of such design and their importance and supply logical basis for setting standards of establishing convenience of system and evaluating and measuring them. In order to evaluate design elements such as interior layout and arrangement of facilities, the model, of which commonness and subjectivity have been verified, should be presented. In consequence, this study going to more concretely focus on new values and sensitive technologies, application of availability and visual communication.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.478-483
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• 2000

In this study to cope with the decreasing product's life-cycle a virtual simulator to realize the simulation environment similar to a real manufacturing line is developed. The developed simulator plays a role in reducing the product conversion time by alternating manufacturing components and work plans on the simulation as manufacturing lines change and actuating a virtual manufacturing lines change and actuating a virtual manufacturing line before a real production. The developed simulator realized a virtual manufacturing line on the simulation using various manipulators and work cells as manufacturing components. Also It can be shown that the simulator can cope with rapid change of a manufacturing line by developing a interface that a separate process is managed for each manufacturing module and a manipulator component and a work cell are changed for a user to become convenient to teach tasks of each work module. using Microsoft Visual C++ 6.0 and OpenGL of Silicon Graphics for libraries to realize 3-dimensional graphic and constructing a database system, a hybrid type of hierachical and relational model to develop a progra that has efficiency and standardization.

• Proceedings of the KIPE Conference
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• 2003.07b
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• pp.929-932
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• 2003

Recently, energy Problem has become more important thing than that of past years. Therefore, researchers in many countries are trying to find the solution for removing energy Problem. One of all is the power generation with using the photovoltaic system. Because this system has some advantage, like purity and infinity. However, there are some problems to generate electrical power with using photovoltaic system. That problems, taking up a very big space and taking financial worries, come into existence. So it is inevitable to make the visual implement equipment for doing repetition experiment and solving this problems. In this paper, Boost converter are analyzed and simulated to make high power PV virtual implement system as input source instead of using transformer.

• Proceedings of the Korean Society of Soil and Groundwater Environment Conference
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• 2005.04a
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• pp.389-392
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• 2005

Visual MODFLOW를 이용하여 서울지하철 7호선 706공구에 계획된 터널 굴착에 따른 지하수 유동계의 변화를 모사하였다. 경계조건은 모델 영역 내 하천(굴포천)의 경우 일정수두경계, 터널 굴착 구간의 경우 $0.39{\sim}0.58m^2/day$의 전도계수를 갖는 배수경계(Drain), 터널 개착구간은 Inactive cell이 존재하는 일정수두경계 조건으로 설정하였다. 모델 보정은 현장시험을 통해 구해진 수리상수는 일정하게 유지하고 함양률을 변화시키면서 실시하였으며, 정류모사를 반복 수행하여 최적의 함양률(150 mm/yr)을 결정하였다. 모사 결과 터널 구간으로의 지하수 유입량은 굴착 및 개착 완료 시 $623m^3/day$, 터널 완공 후 정류상태의 경우 $584m^3/day$인 것으로 나타났다. Zone Budget을 이용한 유출입량 분석 결과 정류 상태 시 터널 내로 유입되는 지하수의 69%는 터널 인근 하천수의 유입에 기인하며, 나머지 31%는 주변 지역에서 함양된 지하수에 의한 것으로 나타났다.

• Journal of the Korea Safety Management & Science
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• v.5 no.2
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• pp.87-98
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• 2003

With the development of CNC(Computer Numerical Control) and communication technology, the connotation and functions of Distributed Numerical Control have been greatly enlarged. In this study, we develop and implement a Distributed Numerical Control system that has real time and multi-tasking operation capability for the machining cell with various NC(Numerical Control) and CNC machines. With the consideration of economy, generalization and extension, this system is interfaced with Shop Floor Control System, Machine Control System and Tool Preparation System using advanced networking method. In the implementation phase, we use the ORACLE DBMS (Database Management System) as the DBMS and Microsoft Visual C++ as the programming tools.

• Proceedings of the Korea Concrete Institute Conference
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• 2005.05a
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• pp.519-522
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• 2005

Ka-Hwa highway bridge, located in a corrosive marine environment, had been examined the current condition of reinforcement corrosion in concrete throughout half-cell potentials, electrical resistivity, chloride contamination of concrete, and visual observation. According to the test, the chloride corrosion reinforced concrete structure is not only the protecting film around the reinforcement is deteriorated but also corrosion activity develops, for example, delamination areas of concrete. The purpose of this paper is to report the effects of Ka-Hwa highway bridge damaged by chlodide attack and to present the results of repair of Ka-Hwa highway concrete bridge in domestic marine environment.