• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.20 no.5
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• pp.186-201
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• 2021

As autonomous driving technology advances, the accuracy of the vehicle position is important for recognizing the environments around driving. Map-matching localization techniques based on high definition (HD) maps have been studied to improve localization accuracy. Because conventional map-matching techniques estimate the vehicle position based on an HD map reference dataset representing the center of the lane, the estimated position does not reflect the deviation of the lateral distance within the lane. Therefore, this paper proposes a localization system based on the reference lateral position dataset extracted using image processing and HD maps. Image processing extracts the driving lane number using inverse perspective mapping, multi-lane detection, and yellow central lane detection. The lane departure method estimates the lateral distance within the lane. To collect the lateral position reference dataset, this approach involves two processes: (i) the link and lane node is extracted based on the lane number obtained from image processing and position from GNSS/INS, and (ii) the lateral position is matched with the extracted link and lane node. Finally, the vehicle position is estimated by matching the GNSS/INS local trajectory and the reference lateral position dataset. The performance of the proposed method was evaluated by experiments carried out on a highway environment. It was confirmed that the proposed method improves accuracy by about 1.0m compared to GNSS / INS, and improves accuracy by about 0.04m~0.21m (7~30%) for each section when compared with the existing lane-level map matching method.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.5
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• pp.1886-1908
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• 2020

With the technical advances, the amount of big data is increasing day-by-day such that the traditional software tools face a burden in handling them. Additionally, the presence of the imbalance data in big data is a massive concern to the research industry. In order to assure the effective management of big data and to deal with the imbalanced data, this paper proposes a new indexing algorithm for retrieving big data in the MapReduce framework. In mappers, the data clustering is done based on the Sparse Fuzzy-c-means (Sparse FCM) algorithm. The reducer combines the clusters generated by the mapper and again performs data clustering with the Sparse FCM algorithm. The two-level query matching is performed for determining the requested data. The first level query matching is performed for determining the cluster, and the second level query matching is done for accessing the requested data. The ranking of data is performed using the proposed Monarch chaotic whale optimization algorithm (M-CWOA), which is designed by combining Monarch butterfly optimization (MBO) [22] and chaotic whale optimization algorithm (CWOA) [21]. Here, the Parametric Enabled-Similarity Measure (PESM) is adapted for matching the similarities between two datasets. The proposed M-CWOA outperformed other methods with maximal precision of 0.9237, recall of 0.9371, F1-score of 0.9223, respectively.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.16 no.2
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• pp.203-211
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• 1998

A traditional method to produce three dimensional orthophoto map has been studied by digital photogrammetry which decides a height by digitally searching conjugate points on the stereo image. Many researches in digital photogrammetric field are still in progress to determine conjugate points automatically. In this study, we analyze the effect of accuracy of area-based image matching with changing eight types of target area size using four types of image pyramid. The result of image matching to each method compared with 1/5,000 digital mapping data. We decided a optimal size of target area on a percentage of image matching. Digital elevation model is generated by matching results and bundle method. As a result, three dimensional orthophoto map is made in terms of digital elevation model and orthophoto.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.3
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• pp.407-415
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• 2012

In this paper, we propose a new stereo matching algorithm by using color information especially for stereo images containing human beings in the applications such as tele-presence system. In the proposed algorithm, we first remove the background regions by using a threshold value for stereo images obtained by stereo camera and then find an initial disparity map and segment a given image into R, G, B and white color components. We also obtain edges in the segmented image and estimate the disparity from the extract boundary regions. Finally, we generate the final disparity map by properly combining the disparity map of each color component. Experiment results show better performance compared with the window based method and the dynamic programing method especially for stereo images with human being.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.536-538
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• 2006

The most important factor of mobile robot is to build a map for surrounding environment and estimate its localization. This paper proposes a real-time localization and map building method through 3-D reconstruction using scale invariant feature from monocular camera. Mobile robot attached monocular camera looking wall extracts scale invariant features in each image using SIFT(Scale Invariant Feature Transform) as it follows wall. Matching is carried out by the extracted features and matching feature map that is transformed into absolute coordinates using 3-D reconstruction of point and geometrical analysis of surrounding environment build, and store it map database. After finished feature map building, the robot finds some points matched with previous feature map and find its pose by affine parameter in real time. Position error of the proposed method was maximum. 8cm and angle error was within $10^{\circ}$.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.32B no.12
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• pp.1591-1602
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• 1995

A hybrid approach which includes edge- and region-based methods is considered. The modified non-linear Laplacian(MNL) filter is used for feature extraction. The matching algorithm has three steps which are edge, signed region, and residual region matching. At first, the edge points are matched using the sign and direction of edges. Then, the disparity is propagated from edge to inside region. A variable window is used to consider the local method which give accurate matched points and area-based method which can obtain full-resolution disparity map. In addition, a new relaxation algorithm for considering matching possibility derived from normalized error and regional continuity constraint is proposed to reduce the mismatched points. By the result of simulation for various images, this algorithm is insensitive to noise and gives full- resolution disparity map.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 1999.05a
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• pp.247-250
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• 1999

In this study, three kinds of Mn-Zn ferrite/Ni-Zn ferrite/$Ni_2Y$ ferroxplana prepared by the coprecipitation method was compounded with silicon rubber, and thereafter made ring-type specimens with various compositional ratio. The material constant of ferrite/rubber composite absorbers was obtaibed by the 2-port method. The material constants of the ferrite/rubber composite absorber with various compositional ratio of three kinds of ferrite were used to design the matching frequency and thickness with the impedance matching map. We were able to predict the matching condition from the design method.

• Journal of Korea Multimedia Society
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• v.19 no.8
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• pp.1281-1287
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• 2016

This paper presents a method of single image dehazing and feature matching for aerial remote sensing images. In the case of a aerial image, transferring the information of the original image is difficult as the contrast leans by the haze. This also causes that the image contrast decreases. Therefore, a refined transmission map based on a hidden Markov random field. Moreover, the proposed algorithm enhances the accuracy of image matching surface-based features in an aerial remote sensing image. The performance of the proposed algorithm is confirmed using a variety of aerial images captured by a Worldview-2 satellite.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.159-162
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• 2002

This paper presents a modified localization scheme of a mobile robot. When it navigates, the position error of a robot is increased and doesn't go to a goal point where the robot intends to go at the beginning. The objective of localization is to estimate the position of a robot precisely. Many algorithms were developed and still are being researched for localization of a mobile robot at present. Among them, a localization algorithm named continuous localization proposed by Schultz has some merits on real-time navigation and is easy to be implemented compared to other localization schemes. Continuous Localization (CL) is based on map-matching algorithm with global and local maps using only ultrasonic sensors for making grid maps. However, CL has some problems in the process of searching the best-scored-map, when it is applied to a mobile robot. We here propose fast and powerful map-matching algorithm for localization of a mobile robot by experiments.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 1997.06a
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• pp.131-136
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• 1997

We present a method to estimate a dense and sharp depth map using multiple cameras for the application to flexible video production. A key issue for obtaining sharp depth map is how to overcome the harmful influence of occlusion. Thus, we first propose to selectively use the depth information from multiple cameras. With a simple sort and discard technique, we resolve the occlusion problem considerably at a slight sacrifice of noise tolerance. However, boundary overreach of more textured area to less textured area at object boundaries still remains to be solved. We observed that the amount of boundary overreach is less than half the size of the matching window and, unlike usual stereo matching, the boundary overreach with the proposed occlusion-overcoming method shows very abrupt transition. Based on these observations, we propose a hierarchical estimation scheme that attempts to reduce boundary overreach such that edges of the depth map coincide with object boundaries on the one hand, and to reduce noisy estimates due to insufficient size of matching window on the other hand. We show the hierarchical method can produce a sharp depth map for a variety of images.