• Convergence Security Journal
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• v.7 no.2
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• pp.81-89
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• 2007

Mobile computing environment that support so that can offer employees inside information that enterprise has always improves business productivity and fetches efficiency enlargement. In this paper, limit model that can process ERP information by real-time as easy and convenient always utilizing radio network and PDA, Mobile camera based on Mobile vision concept. Calculable information between seller and customer is supplied supplying real-time brand image and information by practical use of Enterprise Resource Planning doing based on Mobile. Technical development and commercialization that utilize mobility, enforcement stronghold, portability etc. that is advantage of Mobile communication are required. In this paper, mobility of precious metals.jewel field that use portable terminal equipment taking advantage of a Mobile technology is secured. Constructed Mobile vision system that satisfy photography and bar-code scan at the same time from Mobile camera.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.35 no.3
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• pp.145-154
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• 2017

In recent years, demand for 1 / 1,000 digital map production has increased in various fields such as construction and urban planning. As a result, the use of low-cost non-metric cameras that replace expensive aerial photogrammetry equipment is required. In Korea, researches are being continuously carried out to produce a large scale digital map by photographing a small target area with a non-metric camera. However, due to the limitation of the accuracy of the non-metric camera, it is difficult to do digital mapping with stereoscopic photographs. In this study, we tried to verify the possibility of large-scale digital mapping to utilize non-metric camera for public survey. For this purpose, the accuracy of the digital mapping results of the non-metric camera and the results of the DMC camera were compared and analyzed. After performing in-situ self-calibration including 8 standard additional parameters, we plotted to a scale of 1/1,000 and confirmed that the RMSE is suitable for public survey accuracy of ${\pm}0.145m$ in horizontal and ${\pm}0.153$ m in vertical.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.168-173
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• 2003

In this paper, we will present a deeper look on optimal design methods that are related to path-planning for a mobile robot. To control the motion of a mobile robot in a clustered environment, it's necessary to know a suitable trajectory assuming certain start and goal point. Up to now, there are many literatures that concern optimal path planning for an obstacle avoided mobile robot. Among those literatures, we have chosen 2 novel methods for our further analysis. The first approach [4] is based on HJB(Hamilton-Jacobi-Bellman) equation whose solution is the return-function that helps to generate a shortest path to the goal. The later [5] is called polynomial-path-planning approach, in this method, a shortest polynomial-shape path would become a solution if it was a collision-free path. The camera network plays the role as sensors to generate updated map which locates the static and dynamic objects in the space. Therefore, the exhibition of both path planning and dynamic obstacle avoidance by the updated map would be accomplished simultaneously. As we mentioned before, our research will include the motion control of a true mobile robot on those optimal planned paths which were generated by above algorithms. Base on the kinematic and dynamic simulation results, we can realize the affection of moving speed to the stable of motion on each generated path. Also, we can verify the time-optimal trajectory through velocity tuning. To simplify for our analysis, we assumed the obstacles are cylindrical circular objects with the same size.

• Journal of The Korea Institute of Healthcare Architecture
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• v.12 no.3
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• pp.27-34
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• 2006

Planning for the space of the Media Medical Department requires the details about the efficiency of the equipment and the operation in professional sector. For that, as designing, it is necessary to keep communicating with the experts on the technology and the officials from the company producing the equipment. One of the common concerns is not only how to insure enough room for the future extension and the upgrade of the equipment, as concerning the scale of the hospital, but the plan to cover movie cameras. As technology has been developed, despite the fact that machinery tend to be small, it can be possible to require continuously about the concerns of the scale because the camera taking body-picture tend to be much bigger and more complicated than before. Currently used diagnostic media techniques are divided by the method and the feature of the equipment such as Diagnostic X-ray, Ultrasound, CT, MRI, Angiography. The general and special photographing units which are used more than the other diagnostic parts, must be planned not for experiencing any inconvenience and unnecessary risks for the patients and must accept technical requirements. Also, it must be designed not to be seen as a clinic zone, as concerning the psychological stability of the patients. However, study of the general and special photographing units among the domestic general hospitals is insufficient. Also, as there is shortage of the material considering the development of the equipment, when planning, it's involving a lot of difficulties. Thus, this study has got a purpose on giving the basic material which is essential for further study, as suggesting the planning guidelines and the alternative plans for the general and special photographing units in a general hospital.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.2
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• pp.231-240
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• 2023

It remains a challenge for robots to learn avoiding obstacles automatically in path planning using deep reinforcement learning (DRL). More and more researchers use DRL to train a robot in a simulated environment and verify the possibility of DRL to achieve automatic obstacle avoidance. Due to the influence factors of different environments robots and sensors, it is rare to realize automatic obstacle avoidance of robots in real scenarios. In order to learn automatic path planning by avoiding obstacles in the actual scene we designed a simple Testbed with the wall and the obstacle and had a camera on the robot. The robot's goal is to get from the start point to the end point without hitting the wall as soon as possible. For the robot to learn to avoid the wall and obstacle we propose to use the double deep Q networks (DDQN) to verify the possibility of DRL in automatic obstacle avoidance. In the experiment the robot used is Jetbot, and it can be applied to some robot task scenarios that require obstacle avoidance in automated path planning.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.4
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• pp.456-462
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• 2014

In this paper, we present a deployable bio-inspired robot called the Pillbot-light, which utilizes a safe autonomous navigation system. The Pillbot-light is mounted the station robot, and can be operated in a disaster relief operation or military operation. However, the Pilbot-light has a challenge to navigate autonomously because the Pilbot-light cannot be equipped with various sensors. As a result, we propose a new robot system for autonomous navigation that the station robot controls Pillbot-light equipped with vision camera and CPU of high performance. This system detects obstacles based on the edge extraction using vision camera. Also, it cannot only achieve path planning using the hazard cost function, but also localization using the Particle Filter. And this system is verified by simulation and experiment.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.21 no.4
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• pp.355-363
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• 2003

This paper Non-metric digital video camera against subject of study, stone cultural heritages such as stone pagodas(East & West three storied stone pagoda of dansoksa temple site), and easily acquire still-images which are for analyzing, from moving picture part. When we analyze a location of cultural assets using a Non-metric digital video camera, we could get a accuracy from 1.8mm to 8.3mm. Finally, it can be said that study also suggests the efficient measurement when planning to restore prototype of cultural heritages in the future and providing specific three-dimensional information on them.

• Journal of Sensor Science and Technology
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• v.19 no.3
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• pp.246-257
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• 2010

Autonomous guided robot navigation which consists of following unknown paths and avoiding unknown obstacles has been a fundamental technique for unmanned robots in outdoor environments. The unknown path following requires techniques such as path recognition, path planning, and robot pose estimation. In this paper, we propose a novel sensor fusion system for autonomous guided robot navigation in outdoor environments. The proposed system consists of three monocular cameras and an array of nine infrared range sensors. The two cameras equipped on the robot's right and left sides are used to recognize unknown paths and estimate relative robot pose on these paths through bayesian sensor fusion method, and the other camera equipped at the front of the robot is used to recognize abrupt curves and unknown obstacles. The infrared range sensor array is used to improve the robustness of obstacle avoidance. The forward camera and the infrared range sensor array are fused through rule-based method for obstacle avoidance. Experiments in outdoor environments show the mobile robot with the proposed sensor fusion system performed successfully real-time autonomous guided navigation.

• Journal of Auto-vehicle Safety Association
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• v.14 no.2
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• pp.45-50
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• 2022

The vehicle motion in urban environment is determined by surrounding traffic flow, which cause understanding the flow to be a factor that dominantly affects the motion planning of the vehicle. The traffic flow in this urban environment is accessed using various urban infrastructure information. This paper represents a color recognition algorithm for traffic lights to perceive traffic condition which is a main information among various urban infrastructure information. Deep learning based vision open source realizes positions of traffic lights around the host vehicle. The data are processed to input data based on whether it exists on the route of ego vehicle. The colors of traffic lights are estimated through pixel values from the camera image. The proposed algorithm is validated in intersection situations with traffic lights on the test track. The results show that the proposed algorithm guarantees precise recognition on traffic lights associated with the ego vehicle path in urban intersection scenarios.

• The Bulletin of The Korean Astronomical Society
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• v.46 no.1
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• pp.44.1-44.1
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• 2021

We plan to visit the Apophis, a Potentially Hazardous Asteroid (PHA). Apophis will have an extremely close encounter with the Earth on April, 2029. At the closest position, Apophis approaches 0.1 lunar distances from the Earth. The science goals are 1) mapping the surface of the asteroid before and after the encounter, 2) measuring surface roughness before and after the encounter, and 3) measuring interplanetary space environments such as magnetic field and dust particles. For the science goal, we are planning to employ five instruments for this mission, which are Polarimetric Asteroid Camera (PolACam), Asteroid Terrain Mapping Camera (MapCam), Laser Altimeter, Dust Particle Detector (DPDetector), Magnetometer (Mag). In this presentation, we plan to give a talk on the instruments.