• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.480-487
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• 2009

Autonomous Lane detection with vision is a difficult problem because of various road conditions, such as shadowy road surface, various light conditions, and the signs on the road. In this paper we propose a robust lane detection algorithm to overcome shadowy road problem using a statistical method. The algorithm is applied to the vision-based mobile robot system and the robot followed the lane with the lane following controller. In parallel with the lane following controller, the global position of the robot is estimated by the developed localization method to specify the locations where the lane is discontinued. The results of experiments, done in the region where the GPS measurement is unreliable, show good performance to detect and to follow the lane in complex conditions with shades, water marks, and so on.

• Annual Conference of KIPS
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• 2014.11a
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• pp.17-18
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• 2014

최근 모바일 기기의 보급 확산 및 관련 정보기술 발달로 건설현장에서의 모바일 서비스를 위한 사용자 요구사항이 점차 증가하고 있다. 이와 함께 공공기관에서 발주하는 도로 하천 공사를 관리하는 건설사업관리시스템 또한 모바일 서비스의 필요성이 대두 되었다. 이에 본 논문에서는 HTML5 및 jQuery를 이용한 모바일 앱을 설계하였다. 설계한 앱은 하이브라드 방식으로써 android 및 iOS 등 다른 기기와의 호환성을 유지하였다. 그리고 지도, GPS, 이미지(카메라) 및 전자서명 기능을 추가함으로써 본 시스템의 성능 향상 및 건설현장에서의 업무를 개선할 수 있다.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1767-1768
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• 2007

This paper represents a map building system of Embedded Linux mobile robot. We propose a localization method which uses multiple sensors such as indoor GPS and encoder sensor for simultaneous map building system. In this paper we proposed a multiple sensor system for SLAM. For this, we developed a sensor based navigation algorithm and grid based map building algorithm under the Embedded Linux O.S. We proved this system's validity through field test

• Proceedings of the Korean Information Science Society Conference
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• 2001.10a
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• pp.202-204
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• 2001

무선이동 단말기가 발전함에 따라 GPS등의 측량 장치를 이용하여 현장에서 무선이동 단말기의 공간 데이터를 수정한 후에 수정된 공간 데이터를 무선 네트워크를 통하여 즉시 GIS 서버에 반영할 수 있게 되었다. 기존의 비관적 기법 기반의 트랜잭션 모델을 이용하는 경우에 잠금 충돌이 발생하면 충돌하는 모바일 트랜잭션들이 오랜 기간 동안 온라인 상태로 대기하는 문제가 있다. 또한 낙관적 기법 기반의 트랜잭션 모델을 이용할 경우에 변경 충돌(conflict)이 발생하면 현장에서 수행했던 모든 수정 작업을 취소하고 새로 공간 데이터 수정 작업을 재수행해야 하는 문제가 있다. 이 논문에서는 낙관적 기법에 기반한 모바일 트랜잭션 모델을 제시한다. 이 모델은 영역 잠금을 이용하여 트랜잭션 시작시 변경 의도를 표시한다. 그리고 완료 작업 수행시에 잠금을 이용하여 변경 충돌 검사를 한다. 변경 충돌이 발생하면 변경 충돌 해소를 위하여 해당 트랜잭션을 대기시키고 충돌이 발생한 부분에 대하여 사용자가 재수정 할 수 있도록 한다.

• Annual Conference of KIPS
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• 2014.04a
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• pp.335-337
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• 2014

블록 트랜스포터는 조선 산업의 생산필드에서 많은 물류비용과 생산지연비용을 유발시킨다. 이러한 트랜스포터를 효율적으로 운용하기 위해서는 운송경로의 최적화가 필요하고, 운송경로를 최적화하기 위해서는 실시간으로 트랜스포터의 위치를 확인하는 과정이 선행되어야 한다. 본 논문에서는 실시간으로 블록 트랜스포터의 위치를 측위하기 위해 모바일 RFID를 이용한 실시간 위치 측위 구현 방법을 제안하였다. 스마트폰에 포함된 모바일 RFID 리더기를 사용하여 트랜스포터에 부착되어 있는 RFID TAG를 인식하여 트랜스포터의 이름 및 하중 정보등을 수신 받고, GPS 및 AP를 이용한 위치측위 정보를 트랜스포터 정보와 함께 서버로 전송한다. 서버로 전송된 정보를 통해 선박 블록 이동을 위한 효율적인 배차를 가능하게 하여 조선 산업 전체 공정에 대한 관리를 강화할 수 있다.

• Journal of Positioning, Navigation, and Timing
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• v.7 no.4
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• pp.205-215
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• 2018

The recent emergence of new Global Navigation Satellite Systems (GNSS) has resulted in a gradual improvement in the performance of positioning services. This paper verifies the degree of improvement in positioning performance of Assisted-GNSS (A-GNSS) receivers using assistance information compared to standalone-GNSS receivers that do not use assistance information in various urban environments in Korea. For this purpose, field tests are performed in various urban and indoor environments in Korea. The assistance information is provided by u-blox's AssistNow Online and low-cost commercial receivers are used for mobile station receivers. Through experiments, the Time to First Fix (TTFF), acquisition sensitivity, and position accuracy performance improvement are analyzed. The results of the experiments show that using assistance data improved the performance in all experiment locations, and, in particular, a significant performance improvement in terms of TTFF.

• Annual Conference of KIPS
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• 2010.11a
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• pp.165-168
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• 2010

모바일시장의 흐름이 피쳐폰에서 스마트폰으로 넘어가는 과도기적인 시점에서 하드웨어 기술은 크게 발달했지만, 사용자가 주소록이나 발신자정보표시서비스 등의 여러 정보들을 통합 활용함에 있어서 사용자 중심적인 애플리케이션 제작에는 부족함이 있다. 본 논문에서는 스마트폰의 다양한 하드웨어 기능(GPS, wifi, 등)들을 이용하여 기존 피쳐폰에서 사용되어지던 다양한 정보들을 효율적으로 통합하여 활용할 수 있는 방안(통화 수신자 정보 자동검색 등)에 대해 제시하고, 오픈소스의 장점을 갖고 있는 안드로이드 기반의 스마트폰에 설계하였다.

• Annual Conference of KIPS
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• 2008.11a
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• pp.1142-1145
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• 2008

This paper proposes a novel cluster-based lookup service in mobile ad hoc networks. By applying a self-adaptive multi-hop clustering, we avoid the empty region problem of grid system and omit the need of GPS device. The novelty of the proposed scheme is in its exploitation of hashing function for location querying to achieve low communication overhead. By varying different simulation parameters, we show that the proposed scheme is scalable and adaptive to many networks scenarios. Experiment results demonstrate that our scheme reduces the communication overhead significantly.

• Journal of the Korean Association of Geographic Information Studies
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• v.7 no.2
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• pp.78-86
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• 2004

Recently GPS and mobile GIS technologies based on LBS(location based service) have played an important role as DSS(decision supporting system) for domestic forest fire extinguishment policies. In this study forest fire extinguishments information management system based on mobile GIS technique was designed to seize the exact location on wireless network so that it helps to guide the safe and efficient extinguishments affairs and provide the extinguishments environment toward ground fighting teams and the central forest government in real time. Moreover, possibly to operate this system, the foundation technologies by the name of '.gci' such as the spatial data compression method, the spatial data transmission method over wireless network and the spatial analysis interface on PDA should be mainly considered. Especially, in this study the spatial data compression method having high compression rate from 51% to 62% for each polygon, line, and point data, without the loss of data was developed.

• Journal of Intelligence and Information Systems
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• v.18 no.1
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• pp.1-21
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• 2012

In recent years, mobile phone has experienced an extremely fast evolution. It is equipped with high-quality color displays, high resolution cameras, and real-time accelerated 3D graphics. In addition, some other features are includes GPS sensor and Digital Compass, etc. This evolution advent significantly helps the application developers to use the power of smart-phones, to create a rich environment that offers a wide range of services and exciting possibilities. To date mobile AR in outdoor research there are many popular location-based AR services, such Layar and Wikitude. These systems have big limitation the AR contents hardly overlaid on the real target. Another research is context-based AR services using image recognition and tracking. The AR contents are precisely overlaid on the real target. But the real-time performance is restricted by the retrieval time and hardly implement in large scale area. In our work, we exploit to combine advantages of location-based AR with context-based AR. The system can easily find out surrounding landmarks first and then do the recognition and tracking with them. The proposed system mainly consists of two major parts-landmark browsing module and annotation module. In landmark browsing module, user can view an augmented virtual information (information media), such as text, picture and video on their smart-phone viewfinder, when they pointing out their smart-phone to a certain building or landmark. For this, landmark recognition technique is applied in this work. SURF point-based features are used in the matching process due to their robustness. To ensure the image retrieval and matching processes is fast enough for real time tracking, we exploit the contextual device (GPS and digital compass) information. This is necessary to select the nearest and pointed orientation landmarks from the database. The queried image is only matched with this selected data. Therefore, the speed for matching will be significantly increased. Secondly is the annotation module. Instead of viewing only the augmented information media, user can create virtual annotation based on linked data. Having to know a full knowledge about the landmark, are not necessary required. They can simply look for the appropriate topic by searching it with a keyword in linked data. With this, it helps the system to find out target URI in order to generate correct AR contents. On the other hand, in order to recognize target landmarks, images of selected building or landmark are captured from different angle and distance. This procedure looks like a similar processing of building a connection between the real building and the virtual information existed in the Linked Open Data. In our experiments, search range in the database is reduced by clustering images into groups according to their coordinates. A Grid-base clustering method and user location information are used to restrict the retrieval range. Comparing the existed research using cluster and GPS information the retrieval time is around 70~80ms. Experiment results show our approach the retrieval time reduces to around 18~20ms in average. Therefore the totally processing time is reduced from 490~540ms to 438~480ms. The performance improvement will be more obvious when the database growing. It demonstrates the proposed system is efficient and robust in many cases.