• 한국측량학회지
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• 제36권5호
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• pp.395-401
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• 2018

Recently, most of mobile devices are equipped with GNSS (Global Navigation Satellite System). When the GNSS signal is available, it is easy to obtain position information. However, GNSS is not suitable solution for indoor localization, since the signals are normally not reachable inside buildings. A wide varieties of technology have been developed as a solution for indoor localization such as Wi-Fi, beacons, and inertial sensor. With the increased sensor combinations in mobile devices, mobile devices also became feasible to provide a solution, which based on PDR (Pedestrian Dead Reckoning) method. In this study, we utilized the combination of three sensors equipped in mobile devices including accelerometer, digital compass, and gyroscope and applied three representative PDR methods. The proposed methods are done in three stages; step detection, step length estimation, and heading determination and the final indoor localization result was evaluated with terrestrial LiDAR (Light Detection And Ranging) data obtained in the same test site. By using terrestrial LiDAR data as reference ground truth for PDR in two differently designed experiments, the inaccuracy of PDR methods that could not be found by existing evaluation method could be revealed. The firstexperiment included extreme direction change and combined with similar pace size. Second experiment included smooth direction change and irregular step length. In using existing evaluation method which only checks traveled distance, The results of two experiments showed the mean percentage error of traveled distance estimation resulted from three different algorithms ranging from 0.028 % to 2.825% in the first experiment and 0.035% to 2.282% in second experiment, which makes it to be seen accurately estimated. However, by using the evaluation method utilizing terrestrial LiDAR data, the performance of PDR methods emerged to be inaccurate. In the firstexperiment, the RMSEs (Root Mean Square Errors) of x direction and y direction were 0.48 m and 0.41 m with combination of the best available algorithm. However, the RMSEs of x direction and y direction were 1.29 m and 3.13 m in the second experiment. The new evaluation result reveals that the PDR methods were not effective enough to find out exact pedestrian position information opposed to the result from existing evaluation method.

• 한국산림과학회지
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• 제94권6호
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• pp.431-440
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• 2005

LiDAR(Light Detection and Ranging)는 개체목의 위치, 수고, 지하고 등을 직접적으로 측정할 수 있으며, LiDAR로부터 측정된 수고정보로부터 흉고직경을 간접적으로 측정할 수 있다. 이상의 생장인자로부터 임분의 체적 및 생체량을 추정할 수 있다. 본 연구에서는 LiDAR로 부터 측정된 개체목의 수고, 지하고, 흉고직경 등을 현장조사 자료와 비교하여 정확도 검정을 실시하였다. 경기도 가평 유명산 일대의 잣나무림, 낙엽송림, 참나무류림 등의 단순림을 대상으로 연구를 수행하였으며, LiDAR로부터 측정된 수고의 결정계수는 0.66으로 나타났다. 수종별로는 잣나무가 0.68, 낙엽송이 0.66, 참나무류가 0.60으로 나타났다. 그리고 LiDAR로부터 측정된 지하고의 결정계수는 0.79로 나타났으며 수종별로는 잣나무가 0.73, 낙엽송이 0.79, 참나무류가 0.68로 나타났다. 수종별로 예측된 흉고직경의 결정계수는 잣나무가 0.73, 낙엽송이 0.73, 참나무류가 0.85로 나타났으며, ha당 흉고단면적의 결정계수는 잣나무가 0.82,낙엽송이 0.92, 참나무류가 0.95로 나타났다. LiDAR로부터 측정된 생장인자를 이용하여 추정한 연구지역의 수종별 ha당 생체량은 잣나무가 40,306 tdm/ha, 낙엽송이 94,150 tdm/ha, 참나무류는 94,481 tdm/ha로 나타났다.

• 대한원격탐사학회지
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• 제28권5호
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• pp.573-586
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• 2012

라이다 센서로 취득된 점군에는 실제 물리적인 표면에 존재하지 않는 이상점이 포함되어 있다. 이러한 이상점들은 활용을 위한 후속처리를 하기 전에 반드시 제거되어야 한다. 특히 민감도가 아주 높은 가이거 모드 검출기를 이용하는 라이다로 취득한 데이터는 높은 비율의 이상점을 포함하고 있다. 이로 인해 기존의 알고리즘은 이러한 데이터로부터 성공적으로 이상점을 검출하는데 어려움이 있었다. 이에 본 연구는 가이거 모드 영상 라이다로 획득된 높은 이상점 비율을 갖는 점군에서 이상점을 제거하는 방법을 제안한다. 제안된 방법은 의미 있는 표적의 표면은 검출기상에서 두 개 이상의 이웃픽셀에 검출되며, 이러한 이웃픽셀들로부터 출력되는 거리값은 유사하다는 점을 이용한다. 개발된 제거 기법은 시뮬레이션으로 생성된 다양한 점밀도와 이상점 비율의 모의 데이터에 적용하여 임계값과 데이터 특성에 따른 성능을 분석하였다. 대부분의 경우에 약 99% 이상의 이상점 검출성능이 나타났으며, 데이터 특성에 강인하고 임계값에 크게 민감하지 않는 검출성능을 확인하였다. 제안된 방법은 향후 가이거 모드 라이다 데이터의 온라인 실시간 처리 또는 후처리에 효과적으로 활용될 것으로 판단된다.

• Toxicological Research
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• 제27권2호
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• pp.125-131
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• 2011

Through the present study, we produced a monoclonal antibody against aflatoxin B1 (AFB1) using AFB1-carboxymethoxylamine BSA conjugates. One clone showing high binding ability was selected and it was applied to develop a direct competitive ELISA system. The epitope densities of AFB1-CMO against BSA and KLH were about 1 : 6 and 1 : 545, respectively. The monoclonal antibody (mAb) from cloned hybridoma cell was the IgG1 subclass with ${\lambda}$-type light chains. The $IC_{50}s$ of the monoclonal antibody developed for AFB1, AFB2, AFG1 and AFG2 were 4.36, 7.22, 6.61 and 29.41 ng/ml, respectively, based on the AFB1-KLH coated ELISA system and 15.28, 26.62, 32.75 and 56.67 ng/ml, respectively, based on the mAb coated ELISA. Cross-relativities of mAb to AFB1 for AFB2, AFG1 and AFG2 were 60.47, 65.97 and 14.83% in the AFB1-KLH coated ELISA, and 59.41, 46.66 and 26.97% in the mAb coated ELISA, respectively. Quantitative calculations for AFB1 from the AFB1-Ab ELISA and AFB1-Ag ELISA ranged from 0.25 to 25 ng/ml ($R^2$ > 0.99) and from 1 to 100 ng/ml ($R^2$ > 0.99), respectively. The intra- and inter-assay precision CVs were < 10% in both ELISA assay, representing good reproducibility of developed assay. Recoveries ranged from 79.18 to 91.27%, CVs ranged from 3.21 to 7.97% after spiking AFB1 at concentrations ranging from 5 to 50 ng/ml and following by extraction with 70% methanol solution in the Ab-coated ELISA. In conclusion, we produced a group specific mAb against aflatoxins and developed two direct competitive ELISAs for the detection of AFB1 in feeds based on a monoclonal antibody developed.

• Journal of Information Processing Systems
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• 제14권6호
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• pp.1445-1456
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• 2018

Environment perception and three-dimensional (3D) reconstruction tasks are used to provide unmanned ground vehicle (UGV) with driving awareness interfaces. The speed of obstacle segmentation and surrounding terrain reconstruction crucially influences decision making in UGVs. To increase the processing speed of environment information analysis, we develop a CPU-GPU hybrid system of automatic environment perception and 3D terrain reconstruction based on the integration of multiple sensors. The system consists of three functional modules, namely, multi-sensor data collection and pre-processing, environment perception, and 3D reconstruction. To integrate individual datasets collected from different sensors, the pre-processing function registers the sensed LiDAR (light detection and ranging) point clouds, video sequences, and motion information into a global terrain model after filtering redundant and noise data according to the redundancy removal principle. In the environment perception module, the registered discrete points are clustered into ground surface and individual objects by using a ground segmentation method and a connected component labeling algorithm. The estimated ground surface and non-ground objects indicate the terrain to be traversed and obstacles in the environment, thus creating driving awareness. The 3D reconstruction module calibrates the projection matrix between the mounted LiDAR and cameras to map the local point clouds onto the captured video images. Texture meshes and color particle models are used to reconstruct the ground surface and objects of the 3D terrain model, respectively. To accelerate the proposed system, we apply the GPU parallel computation method to implement the applied computer graphics and image processing algorithms in parallel.

• 농업과학연구
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• 제49권3호
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• pp.483-493
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• 2022

It is important to improve the efficiency of plant breeding and crop yield to fulfill increasing food demands. In plant phenotyping studies, the capability to correlate morphological traits such as plant height, stem diameter, leaf length, leaf width, leaf angle and size of panicle of the plants has an important role. However, manual phenotyping of plants is prone to human errors and is labor intensive and time-consuming. Hence, it is important to develop techniques that measure plant phenotypic traits accurately and rapidly. The aim of this study was to determine the feasibility of point cloud data based on a 3D light detection and ranging (LiDAR) system for plant phenotyping. The obtained results were then verified through manually acquired data from the sorghum samples. This study measured the plant height, plant crown diameter and the panicle height and diameter. The R² of each trait was 0.83, 0.94, 0.90, and 0.90, and the root mean square error (RMSE) was 6.8 cm, 1.82 cm, 5.7 mm, and 7.8 mm, respectively. The results showed good correlation between the point cloud data and manually acquired data for plant phenotyping. The results indicate that the 3D LiDAR system has potential to measure the phenotypes of sorghum in a rapid and accurate way.

• Coupled systems mechanics
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• 제11권6호
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• pp.505-524
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• 2022

Floods represent extreme hydrological phenomena that affect populations, environment, social, political, and ecological systems. After the catastrophic floods that have hit Europe and the World in recent decades, the flood problem has become more current. At the EU level, a legal framework has been put in place with the entry into force of Directive 2007/60/EC on Flood Risk Assessment and Management (Flood Directive). Two years after the entry into force of the Floods Directive, Bosnia and Herzegovina (B&H), has adopted a Regulation on the types and content of water protection plans, which takes key steps and activities under the Floods Directive. The "Methodology for developing flood hazard and risk maps" (Methodology) was developed for the territory of Bosnia and Herzegovina, following the methodology used in the majority of EU member states, but with certain modifications to the country's characteristics. Accordingly, activities for the preparation of the Preliminary Flood Risk Assessment for each river basin district were completed in 2015 for the territory of Bosnia and Herzegovina. Activities on the production of hazard maps and flood risk maps are in progress. The results of probable climate change impact model forecasts should be included in the preparation of the Flood Risk Management Plans, which is the subsequent phase of implementing the Flood Directive. By the foregoing, the paper will give an example of the development of the hydrodynamic model of the Zujevina River, as well as the development of hazard and risk maps. Hazard and risk maps have been prepared for medium probability floods of 1/100 as well as for high probability floods of 1/20. The results of LiDAR (Light Detection and Ranging) recording were used to create a digital terrain model (DMR). It was noticed that there are big differences between the flood maps obtained by recording LiDAR techniques in relation to the previous flood maps obtained using georeferenced topographic maps. Particular attention is given to explaining the Methodology applied in Bosnia and Herzegovina.

• Computers and Concrete
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• 제33권5호
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• pp.595-603
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• 2024

In the construction industry, there has been a surge in the implementation of high-tech equipment in recent years. Various technologies are being considered as potential solutions for future construction projects. Building information modeling (BIM), which utilizes advanced equipment, is a promising solution among these technologies. The need for safety inspection has also increased with the aging structures. Nevertheless, traditional safety inspection technology falls short of meeting this demand as it heavily relies on the subjective opinions of workers. This inadequacy highlights the need for advancements in existing maintenance technology. Research on building safety inspection using 3D laser scanners has notably increased. Laser scanners that use light detection and ranging (LiDAR) can quickly and accurately acquire producing information, which can be realized through reverse engineering by modeling point cloud data. This study introduces an innovative evaluation system for building safety using a 3D laser scanner. The system was used to assess the safety of an existing three-story building by implementing a reverse engineering technique. The 3D digital data are obtained from the scanner to detect defects and deflections in and outside the building and to create an as-built BIM. Subsequently, the as-built structural model of the building was generated using the reverse engineering approach and used for structural analysis. The acquired information, including deformations and dimensions, is compared with the expected values to evaluate the effectiveness of the proposed technique.

• 농업과학연구
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• 제47권4호
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• pp.803-814
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• 2020

Managing erosion control dams requires the annual average sediment yield to determine their storage capacity and time to full sediment-fill and dredging. The GeoWEPP (Geo-spatial interface for Water Erosion Prediction Project) model can predict the annual average sediment yield from various land uses and vegetation covers at a watershed scale. This study assessed the GeoWEPP to determine the annual average sediment yield for managing erosion control dams by applying it to five erosion control dams and comparing the results with field observations using ground-based LiDAR (light detection and ranging). The modeling results showed some differences with the observed sediment yields. Therefore, GeoWEPP is not recommended to determine the annual average sediment yield for erosion control dams. Moreover, when using the GeoWEPP, the following is recommended :1) use the US WEPP climate files with similar latitude, elevation and precipitation modified with monthly average climate data in Korea and 2) use soil files based on forest soil maps in Korea. These methods resulted in GeoWEPP predictions and field observations of 0 and 63.3 Mg·yr-1 for the Gangneung, 142.3 and 331.2 Mg·yr-1 for the Bonghwa landslide, 102.0 and 107.8 Mg·yr-1 for the Bonghwa control, 294.7 and 115.0 Mg·yr-1 for the Chilgok forest fire, and 0 and 15.0 Mg·yr-1 for the Chilgok control watersheds. Application of the GeoWEPP in Korea requires 1) building a climate database fit for the WEPP using the meteorological data from Korea and 2) performing further studies on soil and streamside erosion to determine accurate parameter values for Korea.

• 도시과학
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• 제7권2호
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• pp.53-60
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• 2018

Digital Twin is a technology that creates a photocopy of real-world objects on a computer and analyzes the past and present operational status by fusing the structure, context, and operation of various physical systems with property information, and predicts the future society's countermeasures. In particular, 3D rendering technology (UAS, LiDAR, GNSS, etc.) is a core technology in digital twin. so, the research and application are actively performed in the industry in recent years. However, UAS (Unmanned Aerial System) and LiDAR (Light Detection And Ranging) have to be solved by compensating blind spot which is not reconstructed according to the object shape. In addition, the terrestrial LiDAR can acquire the point cloud of the object more precisely and quickly at a short distance, but a blind spot is generated at the upper part of the object, thereby imposing restrictions on the forward digital twin modeling. The UAS is capable of modeling a specific range of objects with high accuracy by using high resolution images at low altitudes, and has the advantage of generating a high density point group based on SfM (Structure-from-Motion) image analysis technology. However, It is relatively far from the target LiDAR than the terrestrial LiDAR, and it takes time to analyze the image. In particular, it is necessary to reduce the accuracy of the side part and compensate the blind spot. By re-optimizing it after fusion with UAS and Terrestrial LiDAR, the residual error of each modeling method was compensated and the mutual correction result was obtained. The accuracy of fusion-based 3D model is less than 1cm and it is expected to be useful for digital twin construction.