• Journal of Advanced Navigation Technology
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• v.18 no.2
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• pp.134-141
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• 2014

Mobile robots use various sensors for navigation such as wheel encoder, vision sensor, sonar, and laser sensors. Dead reckoning is used with wheel encoder, resulting in the accumulation of positioning errors. For that reason wheel encoder can not be used alone. Too much information of vision sensors leads to an increase in the number of features and complexity of perception scheme. Also Sonar sensor is not suitable for positioning because of its poor accuracy. On the other hand, laser sensor provides accurate distance information relatively. In this paper we propose to extract the angular information from the distance information of laser range finder and use the Kalman filter that match the heading and distance of the laser range finder and those of wheel encoder. For laser scanner with one feature point error may increase much when the feature point is variant or jumping to a new feature point. To solve the problem, we propose to use two feature points and show that the positioning error can be reduced much.

• Journal of Biomedical Engineering Research
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• v.27 no.6
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• pp.392-401
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• 2006

Image Guided Surgery (IGS) system which has variously tried in medical engineering fields is able to give a surgeon objective information of operation process like decision making and surgical planning. This information is displayed through 3D images which are acquired from image modalities like CT and MRI for pre-operation. The technique of image registration is necessary to construct IGS system. Image registration means that 3D model and the object operated by a surgeon are matched on the common frame. Major techniques of registration in IGS system have been used by recognizing fiducial markers placed on the object. However, this method has been criticized due to additional trauma, its invasive protocol inserting fiducial markers in patient's bone and generating noise data when 2D slice images are acquired by image modality because many markers are made of metal. Therefore, this paper developed shape-based registration technique to improve the limitation of fiducial marker based IGS system. Iterative Closest Points (ICP) algorithm was used to match corresponding points and quaternion based rotation and translation transformation using closed form solution applied to find the optimized cost function of transformation. we assumed that this algorithm were used in Total Knee replacement (TKR) operation. Accordingly, we have developed region-based 3D registration technique based on anatomical landmarks and this registration algorithm was evaluated in a femur model. It was found that region-based algorithm can improve the accuracy in 3D registration.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.41 no.6
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• pp.9-18
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• 2004

This paper proposes a new and simple stereo matching algorithm using the disparity space image (DSI) technique. First of all, we detect some salient feature points on each scan-line of the image pair and set the matching area using those points and define a simple cost matrix. And we take advantage of matching by pixel-by-pixel instead of using the matching window. While the pixel-by-pixel method boost up the speed of matching, because of no using neighbor information, the correctness of the matching may not be better. To cover this point, we expand the matching path using character of disparity-space-image for using neighbor information. In addition, we devise the compensated matching module using the volume of the disparity space image in order to improve the accuracy of the match. Consequently, we can reduce mismatches at the disparity discontinuities and can obtain the more detailed and correct disparity map.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.5
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• pp.960-966
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• 2017

In this paper, we proposed an algorithm that can extract lesion by inputting a medical image. Feature points are extracted using SIFT algorithm to extract genetic training of medical image. To increase the intensity of the feature points, the input image and that raining image are matched using vector similarity and the lesion is extracted. The vector similarity match can quickly lead to lesions. Since the direction vector is generated from the local feature point pair, the direction itself only shows the local feature, but it has the advantage of comparing the similarity between the other vectors existing between the two images and expanding to the global feature. The experimental results show that the lesion matching error rate is 1.02% and the processing speed is improved by about 40% compared to the case of not using the feature point intensity information.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.46 no.6
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• pp.58-67
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• 2009

A correspondence matching is one of the important tasks in computer vision, and it is not easy to find corresponding points in variable environment where a scale, rotation, view point and illumination are changed. A SURF(Speeded Up Robust Features) algorithm have been widely used to solve the problem of the correspondence matching because it is faster than SIFT(Scale Invariant Feature Transform) with closely maintaining the matching performance. However, because SURF considers only gray image and local geometric information, it is difficult to match corresponding points on the image where similar local patterns are scattered. In order to solve this problem, this paper proposes an extended SURF algorithm that uses the invariant color and global geometric information. The proposed algorithm can improves the matching performance since the color information and global geometric information is used to discriminate similar patterns. In this paper, the superiority of the proposed algorithm is proved by experiments that it is compared with conventional methods on the image where an illumination and a view point are changed and similar patterns exist.

• Fashion & Textile Research Journal
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• v.21 no.2
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• pp.171-178
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• 2019

This study analyzed the pressure, subjective wearing comfort, and design preference of brassiere shoulder straps among women in their 20s and 40s. Experimental clothing was made by different shoulder strap designs on a brassiere. In the four designs (A-D), the front attachment points of the shoulder straps were the same, but the back attachment points were different. Three of them (E, E1, E2) were of a halter neck design, with different front attachment positions. The pressures of A-D were measured at the position passing through the shoulder line (P1), and E-E2 was measured at the back neck (P2) as well as at P1. Subjective wearing comfort and design preference were rated on a 7-point Likert scale. A was determined to exert the highest pressure at the neck side of the design in the pressure measurement analysis of A-E2, whereas E1 exerted the lowest. E was measured to have the highest pressure among the E-E2 designs, whereas E2 had the lowest. Participants preferred A the most and E the least in regards to the subjective wearing comfort of A-E. Thus, participants deem A to be the most comfortable despite the high strap pressure. However, E was the most favored design, despite its poor wearing comfort. Participants' subjective impressions of E-E2 were that E2 was the most uncomfortable, but its design was the most preferred. Consumers' design preferences and subjective impressions of wearing comfort did not match.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.12
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• pp.1942-1948
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• 2021

The cadastre in Korea was established with the outdated technology of the Japanese colonial period, and thus currently 15% of the Korea domestic land does not match the cadastral map. Accordingly, the government has been establishing the Korean cadastre under the name of 'Cadastral Re-investigation Project' and is changing the origin of the survey to the world geodetic system. Assuming that the project is completed, we propose a drone boundary survey method that can be used to easily survey using the exact digital cadastral information. The developed mobile GCS application can control the drone and acquire the boundary point coordinates recorded in the cadastre, and the drone automatically flies to mark the boundary points. The developed prototype of drone made a tour along the 6 boundary points in 2 minutes.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.3
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• pp.16-22
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• 2019

Off-line programming and robot calibration through simulation are essential when setting up a robot in a robot automation production line. In this study, we developed a new robot calibration method to match the CAD data of the production line with the measurement data on the site using 3D scanner. The proposed method calibrates the robot using 3D point cloud data through Iterative Closest Point algorithm. Registration is performed in three steps. First, vertices connected by three planes are extracted from CAD data as feature points for registration. Three planes are reconstructed from the scan point data located around the extracted feature points to generate corresponding feature points. Finally, the transformation matrix is calculated by minimizing the distance between the feature points extracted through the ICP algorithm. As a result of applying the software to the automobile welding robot installation, the proposed method can calibrate the required accuracy to within 1.5mm and effectively shorten the set-up time, which took 5 hours per robot unit, to within 40 minutes. By using the developed system, it is possible to shorten the OLP working time of the car body assembly line, shorten the precision teaching time of the robot, improve the quality of the produced product and minimize the defect rate.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.6
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• pp.2811-2830
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• 2017

In this paper, we study the problem of mobile data offloading for a network that contains multiple mobile network operators (MNOs), multiple WiFi or femtocell access points (APs) and multiple mobile users (MUs). MNOs offload their subscribed MUs' data traffic by leasing the unused Internet connection bandwidth of third party APs. We propose a combinatorial auction-based two-stage matching mechanism comprised of MU-AP matching and AP-MNO matching. The MU-AP matching is designed to match the MUs to APs in order to maximize the total offloading data traffic and achieve better MU satisfaction. Conversely, for AP-MNO matching, MNOs compete for APs' service using the Nash bargaining solution (NBS) and the Vickrey auction theories and, in turn, APs will receive monetary compensation. We demonstrated that the proposed mechanism converges to a distributed stable matching result. Numerical results demonstrate that the proposed algorithm well capture the tradeoff among the total data traffic, social welfare and the QoS of MUs compared to other schemes. Moreover, the proposed mechanism can considerably offload the total data traffic and improve the network social welfare with less computation complexity and communication overhead.

• Phonetics and Speech Sciences
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• v.1 no.4
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• pp.3-9
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• 2009

Acoustically English vowels are defined primarily by formant values. The measurements of the values have been usually made at a few time points of the vowel segment despite the fact that the majority of English vowel formants vary dynamically throughout the segment. This study attempts to collect acoustic data of the nine English vowels published by Hillenbrand et al. (1995) online and to examine the acoustic features of the English vowels for phoneticians and English teachers. The author used Praat to obtain the data systematically at six equidistant timepoints over the vowel segment. Obvious errors were corrected based on the spectrographic display of each vowel. Results show that the first two formant trajectories are important to separate the nine vowels within the front- or back-vowel groups. The third formant trajectories appear comparable except those of the high vowels. Second, the back vowels leave longer traces on the vowel space toward the locus of the following consonant /d/. Third, each vowel has inherent duration, pitch, and intensity patterns. The results match the findings of Yang (2009). From the results, the author concludes that dynamic spectral changes are important in specifying acoustic characteristics of English vowels. Further studies on the application of the vowel trajectories to English pronunciation lessons or on perceptual experiment of synthesized vowels are desirable.