• Journal of the Institute of Electronics Engineers of Korea SP
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• v.47 no.1
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• pp.73-82
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• 2010

Door is an important object to understand given environment and it could be used to distinguish with corridors and rooms. Doors are widely used natural landmark in mobile robotics for localization and navigation. However, almost algorithm for door recognition with camera is difficult real-time application because feature extraction and matching have heavy computation complexity. This paper proposes a method to recognize a door in corridor. First, we extract distinguished lines which have high possibility to comprise of door using Hough transformation. Then, we detect candidate of door region by applying previously extracted lines to first-stage visual fuzzy system. Finally, door regions are determined by verifying knob region in candidate of door region suing second-stage visual fuzzy system.

• The KIPS Transactions:PartB
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• v.14B no.3 s.113
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• pp.163-170
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• 2007

In autonomous navigation of a mobile vehicle or a mobile robot, localization calculated from recognizing its environment is most important factor. Generally, we can determine position and pose of a camera equipped mobile vehicle or mobile robot using INS and GPS but, in this case, we must use enough known ground landmark for accurate localization. hi contrast with homography method to calculate position and pose of a camera by only using the relation of two dimensional feature point between two frames, in this paper, we propose a method to calculate the position and the pose of a camera using relation between the location to predict through perspective transform of 3D feature points obtained by overlaying 3D model with previous frame using GPS and INS input and the location of corresponding feature point calculated using KLT tracking method in current frame. For the purpose of the performance evaluation, we use wireless-controlled vehicle mounted CCD camera, GPS and INS, and performed the test to calculate the location and the rotation angle of the camera with the video sequence stream obtained at 15Hz frame rate.

• Proceedings of the Korean Geotechical Society Conference
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• 2009.09a
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• pp.133-144
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• 2009

Incheon Bridge, 18.4 km long sea-crossing bridge, will be opened to the traffic in October 2009 and this will be the new landmark of the gearing up north-east Asia as well as the largest & longest bridge of Korea. Incheon Bridge is the integrated set of several special featured bridges including a magnificent cable-stayed girder bridge which has a main span of 800 m width to cross the navigation channel in and out of the Port of Incheon. Incheon Bridge is making an epoch of long-span bridge designs thanks to the fully application of the AASHTO LRFD (load & resistance factor design) to both the superstructures and the substructures. A state-of-the-art of the geotechnologies which were applied to the Incheon Bridge construction project is introduced. The most Large-diameter drilled shafts were penetrated into the bedrock to support the colossal superstructures. The bearing capacity and deformational characteristics of the foundations were verified through the world's largest static pile load test. 8 full-scale pilot piles were tested in both offshore site and onshore area prior to the commencement of constructions. Compressible load beyond 30,000 tonf pressed a single 3 m diameter foundation pile by means of bi-directional loading method including the Osterberg cell techniques. Detailed site investigation to characterize the subsurface properties had been carried out. Geotextile tubes, tied sheet pile walls, and trestles were utilized to overcome the very large tidal difference between ebb and flow at the foreshore site. 44 circular-cell type dolphins surround the piers near the navigation channel to protect the bridge against the collision with aberrant vessels. Each dolphin structure consists of the flat sheet piled wall and infilled aggregates to absorb the collision impact. Geo-centrifugal tests were performed to evaluate the behavior of the dolphin in the seabed and to verify the numerical model for the design. Rip-rap embankments on the seabed are expected to prevent the scouring of the foundation. Prefabricated vertical drains, sand compaction piles, deep cement mixings, horizontal natural-fiber drains, and other subsidiary methods were used to improve the soft ground for the site of abutments, toll plazas, and access roads. Light-weight backfill using EPS blocks helps to reduce the earth pressure behind the abutment on the soft ground. Some kinds of reinforced earth like as MSE using geosynthetics were utilized for the ring wall of the abutment. Soil steel bridges made of corrugated steel plates and engineered backfills were constructed for the open-cut tunnel and the culvert. Diverse experiences of advanced designs and constructions from the Incheon Bridge project have been propagated by relevant engineers and it is strongly expected that significant achievements in geotechnical engineering through this project will contribute to the national development of the longspan bridge technologies remarkably.

• Korean Journal of Remote Sensing
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• v.37 no.5_2
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• pp.1235-1243
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• 2021

Geostationary Ocean Color Imager 2 (GOCI-II) on Geo-KOMPSAT-2 (GK2B)satellite was developed as a mission successor of GOCI on COMS which had been operated for around 10 years since launch in 2010 to observe and monitor ocean color around Korean peninsula. GOCI-II on GK2B was successfully launched in February of 2020 to continue for detection, monitoring, quantification, and prediction of short/long term changes of coastal ocean environment for marine science research and application purpose. GOCI-II had already finished IAC and IOT including early in-orbit calibration and had been handed over to NOSC (National Ocean Satellite Center) in KHOA (Korea Hydrographic and Oceanographic Agency). Radiometric calibration was periodically conducted using on-board solar calibration system in GOCI-II. The final calibrated gain and offset were applied and validated during IOT. And three video parameter sets for one day and 12 video parameter sets for a year was selected and transferred to NOSC for normal operation. Star measurement-based INR (Image Navigation and Registration) navigation filtering and landmark measurement-based image geometric correction were applied to meet the all INR requirements. The GOCI2 INR software was validated through INR IOT. In this paper, status and results of IOT, radiometric calibration and INR of GOCI-II are analysed and described.