• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.24 no.3
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• pp.281-288
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• 2006

Recent increase in the number of pixels of a non-metric digital camera encourages to use it for close-range photogrammetry such as modeling cultural asset and buildings. However, these cameras have to be calibrated far close-range photogrammetry application. For self-calibration, an appropriate pbotograrnmetric network and object field should be designed. In this paper, we studied the effect on self-calibration accuracy changes according to the change of the number of ground control points, dimensions of the ground control points, and the combination of images. We concluded that self-calibration with three photos including a vertical photo can give the stable accuracy of interior orientation parameters and 10 ground control points on a plane can give high accuracy for object reconstruction.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.12
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• pp.1011-1019
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• 2005

In this paper, Ubiquitous Home Mess-Cleanup Robot(UHMR), which has a practical function of the automatic mess-cleanup, is developed. The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which was the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash but has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. It needs functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of tile self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulate,, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. We use the RFID system to solve the problems in this paper and propose the reading algorithm of RFID tags installed in indoor objects and environments. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It needs to also has the entertainment functions for the good communication between the human and UHMR. Finally, the good performance of the designed UHMR is confirmed through the results of the mess clean-up and arrangement.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.12
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• pp.2844-2851
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• 2015

How to recover from the multiple 2D images into 3D object has been widely studied in the field of computer vision. In order to improve the accuracy of the recovered 3D shape, it is more important that noise must be minimized and the number of image frames must be guaranteed. However, potential noise is implied when tracking feature points. And the number of image frames which is consisted of an observation matrix usually decrease because of tracking failure, occlusions, or low image resolution, and so on. Therefore, it is obviously essential that the number of image frames must be secured by recovering the missing feature points under noise. Thus, we propose the analytic approach which can control directly the error distance and orientation of missing feature point by the geometrical properties under noise distribution. The superiority of proposed method is demonstrated through experimental results for synthetic and real object.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1612-1616
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• 2005

In this paper, a Home Mess-Cleanup Robot(HMR), which has a practical function of the automatic mess-cleanup, is developed. The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which was the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash but has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. It needs functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of the self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulator, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. We use the RFID system to solve the problems in this paper and propose the reading algorithm of RFID tags installed in indoor objects and environments. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It needs to also has the entertainment functions for the good communication between the human and HMR. Finally, the good performance of the designed HMR is confirmed through the results of the mess clean-up and arrangement.

• Journal of KIISE
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• v.45 no.3
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• pp.211-223
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• 2018

In this paper, we propose a robot-centered direction relation representation and the relevant reasoning methods for indoor service robots. Many conventional works on qualitative spatial reasoning, when deciding the relative direction relation of the target object, are based on the use of position information only. These reasoning methods may infer an incorrect direction relation of the target object relative to the robot, since they do not take into consideration the heading direction of the robot itself as the base object. In this paper, we present a robot-centered direction relation representation and the reasoning methods. When deciding the relative directional relationship of target objects based on the robot in an indoor environment, the proposed methods make use of the orientation information as well as the position information of the robot. The robot-centered reasoning methods are implemented by extending the existing cone-based, matrix-based, and hybrid methods which utilized only the position information of two objects. In various experiments with both the physical Turtlebot and the simulated one, the proposed representation and reasoning methods displayed their high performance and applicability.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.49 no.4
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• pp.23-35
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• 2012

This paper presents a 3-D pose (position and orientation) estimation method for an elliptic object in 3-D space. It is difficult to resolve the problem of determining 3-D pose parameters with respect to an elliptic feature in 3-D space by interpretation of its projected feature onto an image plane. As an alternative, we propose a two points-based pose estimation algorithm to seek the 3-D information of an elliptic feature. The proposed algorithm determines a homogeneous transformation uniquely for a given correspondence set of an ellipse and two coplanar points that are defined on model and image plane, respectively. For each plane, two triangular features are extracted from an ellipse and two points based on the polarity in 2-D projection space. A planar homography is first estimated by the triangular feature correspondences, then decomposed into 3-D pose parameters. The proposed method is evaluated through a series of experiments for analyzing the errors of 3-D pose estimation and the sensitivity with respect to point locations.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.19 no.10
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• pp.1880-1893
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• 1994

In this paper, we propose a new shape from shading algorithm which reconstructs object shapes from a single image. In the proposed intative algorithm, given 3D surfaces are approximated by orthogonal polynomials and the relationships between the given surface and its derivatives are constructed ad matrix forms in terms of polynomial coefficients, Also the relative depth and its derivatives are obtained by updating them iteratively. Performance of the propose shape from shading algorithm is evaluated in terms of brightness error, orientation error, and height error, and the performance comparison of the proposed and conventional algorithms is shown.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2004.04a
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• pp.135-142
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• 2004

The apparent advantages of FRP (fiber reinforced plastics) composites over the conventional structural materials may be attributed to their high specific strength and stiffness. Other affordable properties of FRPs including an excellent durability make them particularly attractive for the structures in severe service conditions. Therefore, the material and sectional properties of a FRP structural component should be designed to meet its specific requirements and service conditions. This paper is performed the material property optimization under optimum design of pultruded FRP bridge deck section. In the problem formulation, an objective function is selected to minimize the maximum R(strength ratio). The thickness of layers, volumes of fibers and matrix fiber orientation, and stacking sequence of FRPs are used as the design variables. Strength ratio in the design code, material failure criteria and pultruded manufacture thickness are selected as the design constraints to enhance the material performance of FRP decks. From the results of the numerical investigation, we obtained the optimum deck section profile for conventional using object.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.32A no.11
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• pp.1-7
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• 1995

The problem of amplitude-and frequency-modulated waveforms is analyzed when a linearly polarized electromagnetic wave is scattered by a slowly rotating rotor with metal plates. ECM in conjunction with a quasi-stationary method is used to analyze the modulated waveforms. The modulated waveforms depend on the orientation and dimension of the object. its rotation speed, and very strongly on the incident and scattering directions. The modulate waveforms of a rotating non-skewed metal plate and a rotor with two blades are functions of twice the rotating frequency of those. Similar results are discussed for a rotating skewed metal plate, but the modulated waveforms is a function of the rotating frequency. Numerical results based on our ECM are presented and compared with those of Sikta's and PO solution.

• Journal of the Korean Institute of Landscape Architecture
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• v.19 no.2
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• pp.23-31
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• 1991

In this paper, based on the thought of the place, I tried to define the meaning of th place and interprete its landscape. The landscape of the mt. Toham with its Grotto-temple "Sokgulam" is the major object of it. The "matter and form" of the Sokgulam realizes the archetypal meaning of the grotto, birth or place of the birth, in a concrete picture. The aesthetics of the Sokgulam, the mater and form in the work of arts, comes out light harmonious with the elements: "grotto", the new foreign element of the architectural style and "orientation", the old domestic one of the Shilla that presented itself at the Chomsongdae, a kind of observatory. The interrelation of the old and new elements in work of the Sokgulam shows us also a thought as an opinion of the transference to say: the matter of the traditional subject, "grotto" and the form makes the abstract matter concretely in sight, by receiving the natural happening of the sunrise at the winter solstice.