• 제목/요약/키워드: line based map building

검색결과 27건 처리시간 0.022초

A Simple Framework for Indoor Monocular SLAM

  • Nguyen, Xuan-Dao;You, Bum-Jae;Oh, Sang-Rok
    • International Journal of Control, Automation, and Systems
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    • 제6권1호
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    • pp.62-75
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    • 2008
  • Vision-based simultaneous localization and map building using a single camera, while compelling in theory, have not until recently been considered extensive in the practical realm of the real world. In this paper, we propose a simple framework for the monocular SLAM of an indoor mobile robot using natural line features. Our focus in this paper is on presenting a novel approach for modeling the landmark before integration in monocular SLAM. We also discuss data association improvement in a particle filter approach by using the feature management scheme. In addition, we take constraints between features in the environment into account for reducing estimated errors and thereby improve performance. Our experimental results demonstrate the feasibility of the proposed SLAM algorithm in real-time.

휴대용 카메라 모듈(CCM) 제조 라인에 대한 데이터마이닝 기반 품질관리시스템 구축 (Building the Quality Management System for Compact Camera Module(CCM) Assembly Line)

  • 유성진;강부식;홍한국
    • 지능정보연구
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    • 제14권4호
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    • pp.89-101
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    • 2008
  • 제조 분야에서 품질관리를 위해 가장 많이 사용되는 도구는 관리도이다. 하지만 휴대용 카메라 모듈과 같은 소형 전자부품의 제조 라인은 자동화되어 여러 개의 공정이 유기적으로 연결되어 있는 경우 관리도의 적용이 쉽지 않다. 이러한 문제점을 해결하기 위해 공정의 흐름을 파악할 수 있는 모니터링체계와 수율 예측 및 주요공정 변수 파악 등의 주요 공정 파라메터 추출 체계로 구성된 데이터마이닝 기반 품질관리시스템을 구축하고자 한다. 데이터마이닝을 위해 품질관리시스템은 의사결정나무, 신경망, 패턴분석 등의 모듈을 사용한다. 제안된 시스템을 통해 제조 공정은 안정적인 품질의 유지 및 공정 이상 유무의 신속한 파악, 수율 예측 등 품질관리를 위한 유용한 정보를 제공하고 공정의 신뢰성을 높이는데 기여할 수 있을 것이다.

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모바일 지하 대용량 3D 공간정보 타일링 전송 프로토콜 개발 (Mobile Underground High-capacity 3D Spatial Information Tiling Transfer Protocol Development)

  • 이태형;조원제;김현우
    • 한국측량학회지
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    • 제39권6호
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    • pp.491-496
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    • 2021
  • 지하시설물에 따른 안전과 지하정보의 활용이 점차 부각되고 있는 현대 시대에 맞추어, 국가는 더욱 정밀하고 정확한 지하공간정보 확보 및 활용을 추진하고 있다. 앞으로는 국토교통부에서 구축 중인 15종(지하시설물 6종, 지하구조물 6종, 지반 3종) 지하공간통합지도를 적극 활용하여, 국가안전 및 지하공사 편의성 향상을 위해 많은 기여를 할것으로 예상된다. 하지만 현장담당자가 모바일기기로 지하공간통합지도를 요청할 때, 대용량의 지하공간통합지도가 무선구간에서 빠르게 전송되어 서비스되지 않는다면, 현장담당자에게 불편을 초래하고, 업무 지연을 유발한다. 본 논문에서는 현장담당자가 최소한의 정보교환으로 타일링된 지하공간통합지도를 신속하게 전송 서비스 받을 수 있도록 하는 것을 목표로 한다. 따라서 고속 모바일용 지하공간통합지도 전송을 위한 데이터셋에 맞춤으로 타일링체계를 구성한다. 아울러 모바일용 지하공간통합지도 데이터에 대한 전송체계를 설정하고, 현장 지하공간통합지도 전용 TCP/IP (Transmission Control Protocol/ Internet Protocol) 기반 공간정보 타일링 전송 프로토콜을 개발한다.

Automatic detection of discontinuity trace maps: A study of image processing techniques in building stone mines

  • Mojtaba Taghizadeh;Reza Khalou Kakaee;Hossein Mirzaee Nasirabad;Farhan A. Alenizi
    • Geomechanics and Engineering
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    • 제36권3호
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    • pp.205-215
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    • 2024
  • Manually mapping fractures in construction stone mines is challenging, time-consuming, and hazardous. In this method, there is no physical access to all points. In contrast, digital image processing offers a safe, cost-effective, and fast alternative, with the capability to map all joints. In this study, two methods of detecting the trace of discontinuities using image processing in construction stone mines are presented. To achieve this, we employ two modified Hough transform algorithms and the degree of neighborhood technique. Initially, we introduced a method for selecting the best edge detector and smoothing algorithms. Subsequently, the Canny detector and median smoother were identified as the most efficient tools. To trace discontinuities using the mentioned methods, common preprocessing steps were initially applied to the image. Following this, each of the two algorithms followed a distinct approach. The Hough transform algorithm was first applied to the image, and the traces were represented through line drawings. Subsequently, the Hough transform results were refined using fuzzy clustering and reduced clustering algorithms, along with a novel algorithm known as the farthest points' algorithm. Additionally, we developed another algorithm, the degree of neighborhood, tailored for detecting discontinuity traces in construction stones. After completing the common preprocessing steps, the thinning operation was performed on the target image, and the degree of neighborhood for lineament pixels was determined. Subsequently, short lines were removed, and the discontinuities were determined based on the degree of neighborhood. In the final step, we connected lines that were previously separated using the method to be described. The comparison of results demonstrates that image processing is a suitable tool for identifying rock mass discontinuity traces. Finally, a comparison of two images from different construction stone mines presented at the end of this study reveals that in images with fewer traces of discontinuities and a softer texture, both algorithms effectively detect the discontinuity traces.

MESSAGE 모델링을 이용한 승용차 부문의 그린카 도입 전망 분석 (A Long Term Market Forecasting of Passenger Car using MESSAGE Modelling)

  • 유종훈;김후곤
    • 에너지공학
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    • 제21권1호
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    • pp.33-42
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    • 2012
  • 본 연구에서는 MESSAGE를 이용하여 승용 부문의 중장기 온실가스 감축잠재량 전망을 위한 방법론과 그 결과를 제시하고 있다. 승용부문의 실질적인 온실가스 감축잠재량을 구하는 것이 아니라 가장 대표적인 중형차 부문의 4가지 차종인, 기존 내연기관차, 하이브리드, 플러그인 하이브리드, 전기차를 이용하여 2050년까지 시장점유율 변화를 알아는데 중점을 두었다. 승용 부문의 감축잠재량 분석을 위해 녹색위원회의 그린카 로드맵을 중심으로 한 BAU 시나리오, 그린카 보급을 강화하는 시나리오, 학습 곡선을 이용하여 학습률에 따른 차량 가격 시나리오, 그린카의 학습률을 강화하는 시나리오 등 4가지 시나리오를 구성하였다. 그린카 보급 강화 시나리오에서 2050년에는 BAU 시나리오 대비 13%의 배출량이 감소하였고, 학습률에 따른 차량 가격 시나리오 및 학습률 강화 시나리오에서는 14%의 배출량이 감소함을 알 수 있었다.

APPLICATION OF WIFI-BASED INDOOR LOCATION MONITORING SYSTEM FOR LABOR TRACKING IN CONSTRUCTION SITE - A CASE STUDY in Guangzhou MTR

  • Sunkyu Woo;Seongsu Jeong;Esmond Mok;Linyuan Xia;Muwook Pyeon;Joon Heo
    • 국제학술발표논문집
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    • The 3th International Conference on Construction Engineering and Project Management
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    • pp.869-875
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    • 2009
  • Safety is a big issue in the construction sites. For safe and secure management, tracking locations of construction resources such as labors, materials, machineries, vehicles and so on is important. The materials, machineries and vehicles could be controlled by computer, whereas the movement of labors does not have fixed pattern. So, the location and movement of labors need to be monitored continuously for safety. In general, Global Positioning System(GPS) is an opt solution to obtain the location information in outside environments. But it cannot be used for indoor locations as it requires a clear Line-Of-Sight(LOS) to satellites Therefore, indoor location monitoring system could be a convenient alternative for environments such as tunnel and indoor building construction sites. This paper presents a case study to investigate feasibility of Wi-Fi based indoor location monitoring system in construction site. The system is developed by using fingerprint map of gathering Received Signal Strength Indication(RSSI) from each Access Point(AP). The signal information is gathered by Radio Frequency Identification (RFID) tags, which are attached on a helmet of labors to track their locations, and is sent to server computer. Experiments were conducted in a shield tunnel construction site at Guangzhou, China. This study consists of three phases as follows: First, we have a tracking test in entrance area of tunnel construction site. This experiment was performed to find the effective geometry of APs installation. The geometry of APs installation was changed for finding effective locations, and the experiment was performed using one and more tags. Second, APs were separated into two groups, and they were connected with LAN cable in tunnel construction site. The purpose of this experiment was to check the validity of group separating strategy. One group was installed around the entrance and the other one was installed inside the tunnel. Finally, we installed the system inner area of tunnel, boring machine area, and checked the performance with varying conditions (the presence of obstacles such as train, worker, and so on). Accuracy of this study was calculated from the data, which was collected at some known points. Experimental results showed that WiFi-based indoor location system has a level of accuracy of a few meters in tunnel construction site. From the results, it is inferred that the location tracking system can track the approximate location of labors in the construction site. It is able to alert the labors when they are closer to dangerous zones like poisonous region or cave-in..

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关于东北亚地区内 "建设性的微边主义, 小区域主义" 制度 建设的必要性和效果的研究 -以韩国的视角为中心 - (A Study on the necessity and Effect of constructive minilateralism and subregionalism in Northeast Asia: Focused on Korean perspective)

  • Kim, Jaekwan
    • 분석과 대안
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    • 제4권1호
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    • pp.63-87
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    • 2020
  • This article not only theoretically explores the necessity and effect of constructive minilateralism and subregionalism in Northeast Asia, but also delves into a series of practical solutions from viewpoint of seeking common ground while reserving differences in this region. The main contents are as follows: First, the various obstacles that hinder the formation of regionalism, subregionalism and minilateralism in the Northeast Asia are discussed. That is to say, geopolitical realism, My Country First ideology, exclusive nationalism in the socio-historical context, and North Korea's latest provocations, etc. Second, this article explores the philosophy and basic principles of realizing Northeast Asia regionalism and minilateralism. Third, in the 21st century, Northeast Asia becomes the center of the world. It examines the core points, controversial focus and platform for building sub regionalism in the region. Finally, based on the institutional platform such as minilateralism and sub regionalism, the various ideas and practical plans of cross-border cooperation among major countries in Northeast Asia were discussed. Because there are a lot of obstacles, so first of all it is more appropriate to promote economic or functional minilateralism or sub regionalism than multilateral cooperation. In order to promote the formation of regionalism and minilateralism in Northeast Asia, the issues to be considered are as follows: First, for the sake of leading regional solidarity and minilateral economic cooperation, it is advisable for China, as a regional economic power, to implement a stable and responsible diplomacy. Secondly, regional solidarity based on credible politics and security should be promoted for a long time beyond the level of economic cooperation. Third, the primary prerequisite for the realization of Northeast Asian regionalism is that in the process of denuclearization of North Korea, the stability and peace mechanism of the Korean Peninsula should be established. Fourth, with the continued hegemonic competition between the United States and China in Northeast Asia, under the circumstance that countries in the region are pushed into so-called "East Asian Paradox", it is profoundly important for them to consider transition from the hostile relationship as the "Thucydides trap" to the order of "coexistence" in which competition and cooperation run side by side, and the two countries should explore a conversion plan for the foreign policy line. This mutual cooperation and peaceful coexistence of the US-China relationship will create a friendly atmosphere for the formation of regionalism in Northeast Asia. In the future, the cooperation of minilateralism in Northeast Asia will break the existing conflict between the maritime forces and the continental forces in order to promote peace. And along with the philosophy that "peace is economy", recent policies of common prosperity as the framework, such as China's "Belt and Road Initiative", North Korea's "Special Zone and Development Zone Policy", Russia's "New Eastern Policy", Japan's participation in the Belt and Road Initiative and South Korea's The "Korean Peninsula New Economy Map" are organically linked and it should promote the so-called "networked regionalism".

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