• Journal of the Korea Society of Computer and Information
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• v.20 no.12
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• pp.29-36
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• 2015

In this paper, we propose the horizontal line detection using the Haar-like features and linear regression in infrared images. In the marine environment horizon image is very useful information on a variety of systems. In the proposed method Haar-like features it was noted that the standard deviation be calculated in real time on a static area. Based on the pixel position, calculating the standard deviation of the around area in real time and, if the reaction is to filter out the largest pixel can get the energy map of the area containing the straight horizontal line. In order to select a horizontal line of pixels from the energy map, we applied the linear regression, calculating a linear fit to the transverse horizontal line across the image to select the candidate optimal horizontal. The proposed method was carried out in a horizontal line detecting real infrared image experiment for day and night, it was confirmed the excellent detection results than the legacy methods.

• Journal of the Korea Institute of Military Science and Technology
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• v.27 no.2
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• pp.156-166
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• 2024

This paper conducts a study on methods for associating multipath tracks received by a horizontal line array sonar. The horizontal line array sonar introduces conical bearing ambiguities due to its array-shaped characteristics. Target signals are often subject to multipath propagation in the ocean, resulting in errors in target bearing estimation due to these bearing ambiguities. Recent research efforts have been directed toward using multipath tracks to estimate the positions of targets. However, there has been a lack of research dedicated to identifying multipath tracks from the measurements of a horizontal line array sonar. Therefore, this study identifies the conical bearing characteristics of multipath signals based on the result of experiment and establishes criteria for associating multipath tracks. Additionally, Simulations are performed to determine the ability to associate multipath tracks.

• Journal of Sasang Constitutional Medicine
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• v.14 no.1
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• pp.51-66
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• 2002

The main purpose of this study is to differentiate Sasang Constitutions of men and women by measuring 5 parts of the body. By the definitions about Four Chos(四焦) in ${\ulcorner}$The Discourse on Viscera and Bowels(臟腑論)${\lrcorner}$, the body is divided into four parts and sets up the five borderlines. They are Top-line, Bosom-line, Stomach-line, Navel-line and Bottom-line. Top-line(第一線) is the horizontal distance between Rt. & Lt. Coracoid processes passing through the acupuncture point CV-22(天突穴) or the horizontal distance between Rt. & Lt. beginning points of Axillary lines. Bosom-line(第二線) is the horizontal distance passing through Rt.& Lt. Nipples. Stomach-line(第三線) is the horizontal distance passing through Rt.& Lt. acupuncture point ST-19(不容穴). Navel-line(第四線) is the horizontal distance passing through the navel(CV-8; 神闕穴) and the acupuncture point ST-25(天樞穴). Bottom-line(第五線) is the horizontal distance between Rt. & Lt. Anterior Superior Iliac Spine(ASIS). The measured numerical values of Five Lines are the most important factors to classify the Four Constitutions(Taeyangin, Taeumin, Soyangin, Soeumin). Among the five lines, Stomach-line(Middle-line) is the base line to decide Yin and Yang. As a result, I could differentiate the four Constitutions as follows. 1. Taeyangin's Top-line is more than 36cm long. Top-line is the longest. Bottom-line is the shortest. The length-difference between Top-line and Bottom-line is more or less 10cm long. 2. In case of Taeumin, Navel-line is the longest. The numerical values of Middle and Bottom lines are almost the same or Bottom-line is shorter than Middle-line by 1 or 2 cm long. In some special case, the five lines are all the same and the body just looks like a log. 3. In case of Soyangin, just like Taeyangin, Top-line is the longest. Bottom-line is the shortest. The length of Top-line is ranged between 30cm to 35cm long. From Top-line to Bottom-line, the length gradually diminishes each by 2cm: for example, 34-32-30-28-26. 4. In case of Soeumin, the longest one is Bottom-line. Specially, Navel-line is shorter than Middle-line. Bottom-line is longer than the Middle.

• Advances in concrete construction
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• v.16 no.2
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• pp.79-89
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• 2023

The occurrence of unexpected horizontal offset in the instrument or target will result in accumulated horizontal deviation in segment alignment with traditional short-line match method. A geometry control method, the four-point method, is developed for precast segmental bridges to avoid the influences of unexpected horizontal offset. The concept of the four-point method is elucidated. Furthermore, the detailed instruments and instructions are introduced. Finally, the four-point method is validated through a practical engineering application. According to the survey data, after short-line match precast construction, the vertical deviations on both sides vary between -5 mm and 5 mm in almost all segments, and the horizontal deviations vary between -4 mm and 4 mm in all segments. Without on-site adjustment, the maximum vertical and horizontal closure gaps are 12.3 and 26.1 mm, respectively. The four-point method is suggested to alleviate the issues associated with relatively poor soil conditions in casting yard.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1153-1163
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• 2014

An efficient 3D SLAM (Simultaneous Localization and Map Building) method is developed for urban building environments using a tilted 2D LRF (Laser Range Finder), in which a 3D map is composed of perpendicular/horizontal planar polygons. While the mobile robot is moving, from the LRF scan distance data in each scan period, line segments on the scan plane are successively extracted. We propose an "expected line segment" concept for matching: to add each of these scan line segments to the most suitable line segment group for each perpendicular/horizontal planar polygon in the 3D map. After performing 2D localization to determine the pose of the mobile robot, we construct updated perpendicular/horizontal infinite planes and then determine their boundaries to obtain the perpendicular/horizontal planar polygons which constitute our 3D map. Finally, the proposed SLAM algorithm is validated via extensive simulations and experiments.

• Journal of Korea Multimedia Society
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• v.25 no.7
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• pp.912-921
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• 2022

Autonomous vehicles equipped with cameras, such as robots, fork lifts, or cars, can be found frequently in industry sites or usual life. Those cameras show planar motion because the vehicles usually move on a plane. Sometimes the cameras in fork lifts moves vertically. The cameras under planar and vertical motion provides useful properties for horizontal or vertical lines that can be found easily and frequently in our daily life. In this paper, some useful back-projection properties are suggested, which can be applied to horizontal or vertical line images captured by a camera under planar and vertical motion. The line images are back-projected onto a virtual plane that is parallel to the planar motion plane and has the same orientation at the camera coordinate system regardless of camera motion. The back-projected lines on the virtual plane provide useful information for the world lines corresponding to the back-projected lines, such as line direction, angle between two horizontal lines, length ratio of two horizontal lines, and vertical line direction. Through experiments with simple plane polygons, we found that the back-projection properties were useful for estimating correctly the direction and the angle for horizontal and vertical lines.

• Proceedings of the IEEK Conference
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• 2003.11b
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• pp.199-202
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• 2003

In the research for Unmaned Air Vehicles(UAVs), the use of Vision-sensor has been increased. It is possible to calculate the position information of air vehicle by finding a horizontal line. In this paper, we proposed a vision-based algorithm for finding the horizontal line. Experimental results show that the proposed algorithm is faster than an existing algorithm.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2581-2584
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• 2003

In this paper, we propose a self-localization algorithm using vertical line segments. Indoor environment is consist of horizontal and vertical line features such as doors, furniture, and so on. From the input image, vertical line edges are detected by an edge operator, Then, line segments are obtained by projecting edge image vertically and detecting local maximum from the projected histogram. From the relation of horizontal position of line segments and the location of the robot, nonlinear equations are come out Localization is done by solving the equations by using Newton's method. Experimental results show that the proposed algorithm using one camera is simple and applicable to indoor environment.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.33 no.4
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• pp.346-351
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• 2011

Purpose: The purpose of this study was to measure the angular differences between the horizontal reference planes on the CBCT generated PA cephalogram and the modified interpupillary plane, which was usually used in the clinical examination, and to evaluate the validity of the horizontal reference planes. Methods: The CBCT generated PA cephalogram was used to measure the angles between the FH, Lo and IP planes. The subjects consisted of 42 patients with facial asymmetry (males: 21, females: 21, mean-age: 21.6 years). The control groups were also assessed (males: 10, females: 10, mean-age: 23.8 years). The distance of the interpupil was measured on the soft-tissue volume rendered image. The angular differences were statistically analyzed using the $Mann-Whitney$ $U$ $test$ for inter-group comparisons and the $Friedman$ $test$ for intra-group comparisions. Results: The angle between the FH plane and IP plane (the angle of the FH-IP line) showed a statistically significant difference between the two groups ($p$ <0.05). There was no statistical differences between each angle (angle of the FH-IP line, angle of the FH-Lo line, angle of the Lo-IP line) on the intra-group comparision ($p$ >0.05). Conclusion: The angle between the Lo line and IP line (angle of the Lo-IP line) showed no statistically significant difference in both the control and asymmetry groups. Therefore, the Lo line could be used as a horizontal reference plane in CBCT generated PA cephalograms.

• Earthquakes and Structures
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• v.17 no.6
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• pp.635-647
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• 2019

Tests and theoretical studies for seismic responses of a transmission tower-line system under coupled horizontal and tilt (CHT) ground motion were conducted. The method of obtaining the tilt component from seismic motion was based on comparisons from the Fourier spectrum of uncorrected seismic waves. The collected data were then applied in testing and theoretical analysis. Taking an actual transmission tower-line system as the prototype, shaking table tests of the scale model of a single transmission tower and towers-line systems under horizontal, tilt, and CHT ground motions were carried out. Dynamic equations under CHT ground motion were also derived. The additional P-∆ effect caused by tilt motion was considered as an equivalent horizontal lateral force, and it was added into the equations as the excitation. Test results were compared with the theoretical analysis and indicated some useful conclusions. First, the shaking table test results are consistent with the theoretical analysis from improved dynamic equations and proved its correctness. Second, the tilt component of ground motion has great influence on the seismic response of the transmission tower-line system, and the additional P-∆effect caused by the foundation tilt, not only increases the seismic response of the transmission tower-line system, but also leads to a remarkable asymmetric displacement effect. Third, for the tower-line system, transmission lines under ground motion weaken the horizontal displacement and acceleration responses of transmission towers. This weakening effect of transmission lines to the main structure, however, will be decreased with consideration of tilt component.