• Proceedings of the KIEE Conference
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• 대한전기학회 2007년도 제38회 하계학술대회
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• pp.1787-1788
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• 2007

최근 장애물 감지, 경로 생성 등 많은 분야에서 여러 종류의 센서를 사용한 연구가 많이 진행되고 있다. 다중의 센서를 이용하면 개별 센서를 사용한 경우보다 정밀한 데이터의 측정이 가능하다. 이 논문에서는 효율적인 장애물 인식이나, 경로 생성을 위해 다중 센서로부터 측정된 데이터를 융합시키는 알고리즘을 제안하였고, 모의실험을 통해서는 이동 로봇의 기본 경로에 장애물이 존재한 상황에서 하나의 센서를 사용한 경우보다 최적화된 경로를 얻을 수 있다.

• Journal of Positioning, Navigation, and Timing
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• 제11권1호
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• pp.35-44
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• 2022

In this paper, a dual foot (DF)-PDR system is proposed for the fusion of integration (IA)-based PDR systems independently applied on both shoes. The horizontal positions of the two shoes estimated from each PDR system are fused based on a particle filter. The proposed method bounds the position error even if the walking time increases without an additional sensor. The distribution of particles is a non-Gaussian distribution to express the lateral error due to systematic drift. Assuming that the shoe position is the pedestrian position, the multi-modal position distribution can be fused into one using the Gaussian sum. The fused pedestrian position is used as a measurement of each particle filter so that the position error is corrected. As a result, experimental results show that position of pedestrians can be effectively estimated by using only the inertial sensors attached to both shoes.

• Proceedings of the Korea Information Processing Society Conference
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• 한국정보처리학회 2023년도 춘계학술발표대회
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• pp.298-300
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• 2023

자율주행 및 robot navigation 시스템에서 물체 인식 성능향상을 위해 대부분 MSF(Multi-Sensor Fusion) 기반 설계를 한다. 따라서 각 센서로부터 들어온 정보를 정합하는 것은 정확한 MSF 알고리즘을 위한 필요조건이다. 다양한 선행 연구에서 2D 데이터에 대한 공격을 진행했다. 자율주행에서는 3D 데이터를 다루어야 하므로 선행 연구에서 하지 않았던 3D 데이터 공격을 진행했다. 본 연구에서는 스케일링 공격 기반 카메라-라이다 센서 간 정합 모델의 정확도를 저하시키는 공격 방법을 제안한다. 제안 방법은 입력 라이다의 포인트 클라우드에 스케일링 공격을 적용하여 다운스케일링 단계에서 공격하고자 한다. 실험 결과, 입력 데이터에 공격하였을 때 공격 전보다 평균제곱 이동오류는 56% 이상, 평균 사원수 각도 오류는 98% 이상 증가했음을 보였다. 다운스케일링 크기 별, 알고리즘별 공격을 적용했을 때, 10×20 크기로 다운스케일링 하고 lanczos4 알고리즘을 적용했을 때 가장 효과적으로 공격할 수 있음을 확인했다.

• International Journal of Advanced Culture Technology
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• 제12권2호
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• pp.318-325
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• 2024

The rapid advancement of drone technology has led to the emergence of drone swarms, a game-changing concept in modern warfare. This study explores the military applications, countermeasures, and strategic implications of drone swarms. By examining the current trends in drone swarm development and deployment, this research highlights the potential of this technology to revolutionize the battlefield. The study also investigates the challenges and vulnerabilities associated with drone swarms, emphasizing the need for effective countermeasures. Through an analysis of multi-sensor fusion, directed energy weapons, and artificial intelligence, this research proposes comprehensive strategies to counter the threats posed by drone swarms. Furthermore, the study delves into the ethical and legal issues surrounding the use of autonomous drone swarms, underscoring the necessity for international norms and regulations. The findings of this research contribute to the understanding of the transformative impact of drone swarms on military strategy and national security, while providing valuable insights for policymakers, military strategists, and researchers in the field.

• Journal of Korea Multimedia Society
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• 제15권3호
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• pp.291-298
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• 2012

In automatic target recognition(ATR) systems, target extraction techniques are very important because ATR performance depends on segmentation result. So, this paper proposes a multi-sensor image fusion method based on adaptive weights. To incorporate the FLIR image and CCD image, we used information such as the bi-modality, distance and texture. A weight of the FLIR image is derived from the bi-modality and distance measure. For the weight of CCD image, the information that the target's texture is more uniform than the background region is used. The proposed algorithm is applied to many images and its performance is compared with the segmentation result using the single image. Experimental results show that the proposed method has the accurate extraction performance.

• Journal of The Korean Society of Agricultural Engineers
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• 제53권6호
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• pp.7-16
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• 2011

This study discussed the applicability of satellite SAR (Synthetic Aperture Radar) imagery with regard to reservoir monitoring, and tried the extraction of reservoir storage from multi-temporal C-band RADARSAT-1 SAR backscattering images of Yedang and Goongpyeong agricultural reservoirs, acquired from May to October 2005. SAR technology has been advanced as a complementary and alternative approach to optical remote sensing and in-situ measurement. Water bodies in SAR imagery represent low brightness induced by low backscattering, and reservoir storage can be derived from the backscatter contrast with the level-area-volume relationship of each reservoir. The threshold segmentation over the routine preprocessing of SAR images such as speckle reduction and low-pass filtering concluded a significant correlation between the SAR-derived reservoir storage and the observation record in spite of the considerable disagreement. The result showed up critical limitations for adopting SAR data to reservoir monitoring as follows: the inappropriate specifications of SAR data, the unreliable rating curve of reservoir, the lack of climatic information such as wind and precipitation, the interruption of inside and neighboring land cover, and so on. Furthermore, better accuracy of SAR-based reservoir monitoring could be expected through different alternatives such as multi-sensor image fusion, water level measurement with altimeters or interferometry, etc.

• Proceedings of the KIEE Conference
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.1984-1986
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• 2001

In order to provided continuous solutions, latest developing navigation systems tend to integrate GPS receiver with INS or DR. Using the GPS carrier-phase measurements, an attitude GPS receiver with three antennas obtain the 3-dimensional attitude such as roll, pitch, and heading as well as position and velocity. With these angle measurements, in the attitude GPS/INS integrated system, attitude or gyro errors can be directly compensated. In this paper, we develop an integrated navigation system that combines attitude GPS receiver with INS. The performance of real-time integrated navigation system is determined by not only the implements of integration filter but also the synchronization of measurements. To meet these real-time requirements, the navigation software is implemented in multi-tasking structure in this paper. We also employ time-synchronization technique in the multi-sensor fusion. Experimental results show that the performance of the attitude GPS/INS integrated system is consistent even when cycle-slip occurs in carrier-phase measurements.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 한국정보통신학회 2021년도 추계학술대회
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• pp.422-424
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• 2021

In this paper, it leads the approach of fusing multiple RGB cameras for visual objects recognition based on deep learning with convolution neural network and 3D Light Detection and Ranging (LiDAR) to observe the environment and match into a 3D world in estimating the distance and position in a form of point cloud map. The goal of perception in multiple cameras are to extract the crucial static and dynamic objects around the autonomous vehicle, especially the blind spot which assists the AV to navigate according to the goal. Numerous cameras with object detection might tend slow-going the computer process in real-time. The computer vision convolution neural network algorithm to use for eradicating this problem use must suitable also to the capacity of the hardware. The localization of classified detected objects comes from the bases of a 3D point cloud environment. But first, the LiDAR point cloud data undergo parsing, and the used algorithm is based on the 3D Euclidean clustering method which gives an accurate on localizing the objects. We evaluated the method using our dataset that comes from VLP-16 and multiple cameras and the results show the completion of the method and multi-sensor fusion strategy.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• 제35권3호
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• pp.125-132
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• 2017

Even after applying an image registration, Very High Resolution (VHR) multi-temporal images acquired from different optical satellite sensors such as IKONOS, QuickBird, and Kompsat-2 show a local misalignment due to dissimilarities in sensor properties and acquisition conditions. As the local misalignment, also referred to as Registration Noise (RN), is likely to have a negative impact on multi-temporal information extraction, detecting and reducing the RN can improve the multi-temporal image processing performance. In this paper, an approach to fine registration between VHR multi-temporal images by considering local distribution of RN is proposed. Since the dominant RN mainly exists along boundaries of objects, we use edge information in high frequency regions to identify it. In order to validate the proposed approach, datasets are built from VHR multi-temporal images acquired by optical satellite sensors. Both qualitative and quantitative assessments confirm the effectiveness of the proposed RN-based fine registration approach compared to the manual registration.

• Journal of the Society of Disaster Information
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• 제20권2호
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• pp.315-328
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• 2024

Purpose: The purpose of this paper is to present a service construction plan using multiple complex sensor information to detect abnormal situations in urban life safety that are difficult to identify on CCTV. Method: This study selected service scenarios based on actual testbed data and analyzed service importance for local government control center operators, which are main users. Result: Service scenarios were selected as detection of day and night dynamic object, Detection of sudden temperature changes, and Detection of time-series temperature changes. As a result of AHP analysis, walking and mobility collision risk situation services and fire foreshadowing detection services leading to immediate major disasters were highly evaluated. Conclusion: This study is significant in proposing a plan to build an anomaly detection service that can be used in local governments based on real data. This study is significant in proposing a plan to build an anomaly detection service that can be used by local governments based on testbed data.