• Journal of Institute of Control, Robotics and Systems
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• v.16 no.4
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• pp.381-390
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• 2010

This paper describes a procedure of the map-based localization for mobile robots by using a sensor fusion technique in structured environments. A combination of various sensors with different characteristics and limited sensibility has advantages in view of complementariness and cooperation to obtain better information on the environment. In this paper, for robust self-localization of a mobile robot with a monocular camera and a laser structured light sensor, environment information acquired from two sensors is combined and fused by a Bayesian sensor fusion technique based on the probabilistic reliability function of each sensor predefined through experiments. For the self-localization using the monocular vision, the robot utilizes image features consisting of vertical edge lines from input camera images, and they are used as natural landmark points in self-localization process. However, in case of using the laser structured light sensor, it utilizes geometrical features composed of corners and planes as natural landmark shapes during this process, which are extracted from range data at a constant height from the navigation floor. Although only each feature group of them is sometimes useful to localize mobile robots, all features from the two sensors are simultaneously used and fused in term of information for reliable localization under various environment conditions. To verify the advantage of using multi-sensor fusion, a series of experiments are performed, and experimental results are discussed in detail.

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
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• 1999.12a
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• pp.66-71
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• 1999

For given 3D geographic data which is usually of DEM(Data Elevation Model) format, we have to represent and manipulate the data in various ways. For example, we have to draw a part of them in drawing canvas. To do this we give users a way of selecting area they want to visualize. And we have to give a base tool for users to select the local area which can be chosen for some geographic operation. In this paper, we propose a 3D data processing method for representation and manipulation. The method utilizes the major properties of DEM and TIN(Triangular Irregular Network), respectively. Furthermore, by approximating DEM with a TIN of an appropriate resolution, we can support a fast and realistic surface modeling. We implement the structure with the following 4 level stages. The first is an optimal resolution of DEM which represent all of wide range of geographic data. The second is the full resolution DEM which is a subarea of original data generated by user's selection in our implemeatation. The third is the TIN approximation of this data with a proper resolution determined by the relative position with the camera. And the last step is multi-resolution TIN data whose resolution is dynamically decided by considering which direction user take notice currently. Specialty, the TIN of the last step is designed for realtime camera navigation. By using the structure we implemented realtime surface clipping, efficient approximation of height field and the locally detailed surface LOD(Level of Detail). We used the initial 10-meter sampling DEM data of Seoul, KOREA and implement the structure to the 3D Virtual GIS based on the Internet.

• Cartoon and Animation Studies
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• s.20
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• pp.31-45
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• 2010

Stereoscopic 3D animation contents are in the rise as a key part of contents market. Major animation studios are planning to produce 3D animations in a stereoscopic process. This study aims at understanding the visual textuality of 3D animation contents at its early stage. To understand 3D animation, , are analyzed. Stereoscopic 3D animations are exploring the new visual aesthetics using the specific storytelling, sequence ordering, camera working, shot size and camera angles etc. Based on these visual textualities, stereoscopic 3D animations are constructing telepresence, multi-senses of individual spectators. Stereoscopic 3D animations have formed their own aesthetics and cultural meanings in the digital age.

• Proceedings of the KSRS Conference
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• 1998.09a
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• pp.313-318
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• 1998

Electro-Optical Camera(EOC) is the main payload of Korea Multi-Purpose SATellite(KOMPSAT) with the mission of cartography to build up a digital map of Korean territory including Digital Terrain Elevation Map(DTEM). This instrument which comprises EOC Sensor Assembly and EOC Electronics Assembly produces the panchromatic images of 6.6 m GSD with a swath wider than 17 km by push-broom scanning and spacecraft body pointing in a visible range of wavelength, 510 ~ 730 nm. The high resolution panchromatic image is to be collected for 2 minutes during 98 minutes of orbit cycle covering about 800 km along ground track, over the mission lifetime of 3 years with the functions of programmable rain/offset and on-board image data storage. The image of 8 bit digitization, which is collected by a full reflective type F8.3 triplet without obscuration, is to be transmitted to Ground Station at a rate less than 25 Mbps. EOC was elaborated to have the performance which meets or surpasses its requirements of design phase. The spectral response the modulation transfer function, and the uniformity of all the 2592 pixel of CCD of EOC are illustrated as they were measured for the convenience of end-user. The spectral response was measured with respect to each gain setup of EOC and this is expected to give the capability of generating more accurate panchromatic image to the EOC data users. The modulation transfer function of EOC was measured as greater than 16% at Nyquist frequency over the entire field of view which exceeds its requirement of larger than 10%, The uniformity that shows the relative response of each pixel of CCD was measured at every pixel of the Focal Plane Array of EOC and is illustrated for the data processing.

• Journal of KIISE:Software and Applications
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• v.32 no.12
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• pp.1247-1259
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• 2005

This paper proposes a real-time face recognition system which detects multiple faces from low resolution video such as web-camera video. Face recognition system consists of the face detection step and the face classification step. At First, it finds face region candidates by using AdaBoost based object detection method which have fast speed and robust performance. It generates reduced feature vector for each face region candidate by using principle component analysis. At Second, Face classification used Principle Component Analysis and multi-SVM. Experimental result shows that the proposed method achieves real-time face detection and face recognition from low resolution video. Additionally, We implement the auto-tracking face recognition system using the Pan-Tilt Web-camera and radio On/Off digital door-lock system with face recognition system.

• Bulletin of the Korean Space Science Society
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• 2009.10a
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• pp.45.1-45.1
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• 2009

과학기술위성 3호의 주탑재체인 MIRIS (Multi-purpose InfraRed Imaging System)는 우주관측카메라 (Space Observation Camera, SOC)와 지구관측카메라 (Earth Observation Camera, EOC)가 독립적인 시스템으로 구성되어 있다. 지구관측카메라는 유효 구경 100 mm, F/5의 광학계로 3-5 마이크론 파장영역을 관측하며, 국내에서 개발된 적외선 검출기의 우주 인증 시험과 유사시 한반도 적외선 감시를 주요 목적으로 하고 있다. 고도 700km에서 지상을 볼 때 약 42m/pixel의 공간분해능을 나타낼 것으로 기대하고 있다. 지구관측카메라의 인증 모델(Qualification Model)은 냉동기를 제외한 모든 부품이 국내기술로 제작되었으며, 미러 본딩 및 릴레이 렌즈 조립 기술, 적외선 영상 검교정 기술 등 다양한 경험과 도전을 제공했다. 이 발표에서는 지구관측카메라 인증모델을 이용하여 수행한 주요 시험 과정을 소개한다. 국내 회사 (주)i3 system에서 제작된 적외선 검출기는 $320\times256$ HgCdTe array (평균 양자효율 80% 이상) 이며 77K에서 정상적으로 운영된다. Micro Stirling Cooler에 의해 듀어는 전원을 켠 후 5분 이내에 검출기 운영온도인 77K까지 내려간다. 적외선 광학계의 정렬, 시스템 MTF 측정, 흑체 측정 및 검교정 작업을 수행한 후 야외에서 다양한 경우에 대해 Field Test를 진행했다. 이 발표에서는 Field Test 과정과 이를 통해 얻은 결과를 발표하고, FM (Flight Model) 제작에 있어 수정해야 할 사항들을 제안해 본다.

• Journal of KIISE:Computing Practices and Letters
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• v.12 no.4
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• pp.241-253
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• 2006

In modem societies, a monitoring system is required to automatically detect and track persons from several cameras scattered in a wide area. Combining multiple cameras with non-overlapping views and a tracking technique, we propose a method that tracks automatically the target persons in one camera and transfers the tracking information to other networked cameras through a server. So the proposed method tracks thoroughly the target persons over the cameras. In this paper, we use a person model to detect and distinguish the corresponding person and to transfer the person's tracking information. A movement of the tracked persons is defined on FOV lines of the networked cameras. The tracked person has 6 statuses. The proposed system was experimented in several indoor scenario. We achieved 91.2% in an averaged tracking rate and 96% in an averaged status rate.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.2
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• pp.187-192
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• 2008

The Intelligent Space(ISpace) provides challenging research fields for surveillance, human-computer interfacing, networked camera conferencing, industrial monitoring or service and training applications. ISpace is the space where many intelligent devices, such as computers and sensors, are distributed. According to the cooperation of many intelligent devices, the environment, it is very important that the system knows the location information to offer the useful services. In order to achieve these goals, we present a method for representing, tracking and human Jollowing by fusing distributed multiple vision systems in ISpace, with application to pedestrian tracking in a crowd. This paper describes appearance based unknown object tracking with the distributed vision system in intelligent space. First, we discuss how object color information is obtained and how the color appearance based model is constructed from this data. Then, we discuss the global color model based on the local color information. The process of learning within global model and the experimental results are also presented.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.49 no.2
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• pp.13-19
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• 2012

The techniques of 3d image processing have broadly used in the areas including movies, games, performances, exhibitions. In addition, increasing demands for practical uses have gradually extended to the areas of architecture, medicine, nuclear power plant. However, dominant techniques for 3d image processing seem to depend on multi-camera in which two stereo images are merged into one image. Also the pipeline has limitations to provide real-time 3d viewer in ubiquitous computing. It is not able to be applicable onto most general screens as well. In addition, the techniques can be utilized for the real-time 3d game play without a particular monitor or convertor. Hence, the research presented here is to aim at developing an efficient real-time 3d viewer using only mono camera which do not need post processing for editing as well.

• The Bulletin of The Korean Astronomical Society
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• v.38 no.1
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• pp.74-74
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• 2013

Multi-purpose Infra-Red Imaging System (MIRIS) is the main payload of the Science and Technology Satellite-3 (STSAT-3) to be launched in the late half of this year. For the Space Observation Camera (SOC) of MIRIS, we developed the data reduction pipeline with Python powered by Astropy, a community Python library for astronomy. The pipeline features the following functionalities: i) to retrieve the raw observation data from database and convert it to a FITS format, ii) to mask bad pixels, iii) to correct the non-linearity, iv) to differentiate the frames, v) to correct the flat-field, vi) to correct focal-plane distortion, vii) to improve the world coordinate system (WCS) information using known point-source catalog, and viii) to combine the sequentially taken frames. The pipeline is well modularized and has flexibility for later update. In this poster, we introduce the details of the pipeline's features and the future maintenance plan.