• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.35 no.6
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• pp.527-534
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• 2017

The purpose of this study is to develop unmanned equipment that can automatically move to the desired point and measure water quality at the correct depth. For this purpose, we constructed a water sampling lift and water sampling container, an unmanned vessel equipped with a VRS-GPS, an acoustic echo sounder, and a water quality sensor. Also, we developed an automatic navigation algorithm and program, an automatic water sampling program, and a water quality map generation program. As a result of the experiment in the detention pond, the unmanned vessel sailed along the planned route with an accuracy of about 93% within the error range of 3m. In addition, the water quality sensor installed in the lift was able to acquire the water quality of the target area in real time and transmit it to the server via wireless Internet, and it was possible to monitor the water quality of each site in real time. Through field experiments, the water sampling lift was able to control the desired length with an accuracy of about 94%. The stretch length accuracy experiment of the water sampling lift was impossible to measure directly in the water, so it was replaced land-based experiment. We also found some unstable problems due to the weight of the water sampling lift and the weight of the air compressor to operate the water container. Except these two problems, we accomplished purpose of this study. An automated water quality measurement method using an unmanned vessel can be used to measure the quality of water in a difficult to access area and to secure the safety of the worker.

• KIPS Transactions on Software and Data Engineering
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• v.4 no.5
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• pp.225-230
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• 2015

In this paper, we propose an effective real-time visual loop closure detector, VILODE, which makes use of key frames and bag of visual words (BoW) based on SURF feature points. In order to determine whether the camera has re-visited one of the previously visited places, a loop closure detector has to compare an incoming new image with all previous images collected at every visited place. As the camera passes through new places or locations, the amount of images to be compared continues growing. For this reason, it is difficult for a visual loop closure detector to meet both real-time constraint and high detection accuracy. To address the problem, the proposed system adopts an effective key frame selection strategy which selects and compares only distinct meaningful ones from continuously incoming images during navigation, and so it can reduce greatly image comparisons for loop detection. Moreover, in order to improve detection accuracy and efficiency, the system represents each key frame image as a bag of visual words, and maintains indexes for them using DBoW database system. The experiments with TUM benchmark datasets demonstrates high performance of the proposed visual loop closure detector.

• Korean Journal of Remote Sensing
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• v.29 no.2
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• pp.183-195
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• 2013

Real-time high-precision image georeferencing is important for the realization of image based precise navigation or sophisticated augmented reality. In general, high-precision image georeferencing can be achieved using the conventional simultaneous bundle adjustment algorithm, which can be performed only as post-processing due to its processing time. The recently proposed sequential bundle adjustment algorithm can rapidly produce the results of the similar accuracy and thus opens a possibility of real-time processing. However, since the processing time still increases linearly according to the number of images, if the number of images are too large, its real-time processing is not guaranteed. Based on this algorithm, we propose a modified fast algorithm, the processing time of which is maintained within a limit regardless of the number of images. Since the proposed algorithm considers only the existing images of high correlation with the newly acquired image, it can not only maintain the processing time but also produce accurate results. We applied the proposed algorithm to the images acquired with 1Hz. It is found that the processing time is about 0.02 seconds at the acquisition time of each image in average and the accuracy is about ${\pm}5$ cm on the ground point coordinates in comparison with the results of the conventional simultaneous bundle adjustment algorithm. If this algorithm is converged with a fast image matching algorithm of high reliability, it enables high precision real-time georeferencing of the moving images acquired from a smartphone or UAV by complementing the performance of position and attitude sensors mounted together.

• Journal of Korea Multimedia Society
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• v.10 no.11
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• pp.1483-1495
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• 2007

Thanks to IEEE 802.11 technique, accessing Internet through a wireless LAN(Local Area Network) is possible in the most of the places including university campuses, shopping malls, offices, hospitals, stations, and so on. Most of the APs(access points) for wireless LAN are supporting 2.4 GHz band 802.11b and 802.11g protocols. This paper is introducing a C# library function which can be used to read RSSIs(Received Signal Strength Indicator) from APs. An LBS(Location Based Service) estimates the current location of the user and provides useful user's location-based services such as navigation, points of interest, and so on. Therefore, indoor, LBS is very desirable. However, an indoor LBS cannot be realized unless indoor position ing is possible. For indoor positioning, techniques of using infrared, ultrasound, signal strength of UDP packet have been proposed. One of the disadvantages of these techniques is that they require special equipments dedicated for positioning. On the other hand, wireless LAN-based indoor positioning does not require any special equipments and more economical. A wireless LAN-based positioning cannot be realized without reading RSSIs from APs. Therefore, our C# library function will be widely used in the field of indoor positioning. In addition to providing a C# library function of reading RSSI, this paper introduces implementation of indoor positioning modules making use of the library function. The methods used in the implementation are K-NN(K Nearest Neighbors), Bayesian and trilateration. K-NN and Bayesian are kind of fingerprinting method. A fingerprint method consists of off-line phase and realtime phase. The process time of realtime phase must be fast. This paper proposes a decision tree method in order to improve the process time of realtime phase. Experimental results of comparing performances of these methods are also discussed.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.47 no.4
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• pp.1-10
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• 2010

This present paper's goal is to show a virtual human agent's movement-data loci based on realistically limited perception data is human-like. To determine human-likeness of the movement-data loci, we consider interactions between two parameters: Realistically Limited Perception (RLP) data and Incremental Movement-Path data Generation (IMPG). That is to consider how the former (i.e., RLP), one of the simulated parameters of human thought or its elements dictates the latter (i.e., IMPG), one of the simulated parameters of human movement behavior. Mapping DB is a prerequisite for navigation in an agent system because it functions as an interface between perception and movement behavior. Although Hill et al. studied mapping DB methodology based on RLP, their research dealt only with a rendering camera's view point data. The agent system in this present paper was integrated with the Hill's mapping DB module and then the two parameters' interaction was considered on a military reconnaissance mission with unexpected enemy emergence. Movement loci that were generated by the agent and subjects were compared with each other. The agent system in this present research verifies that it can be a functional test bed for producing human-like movement-data loci although the human-likeness of agent is the result of a pilot test, determined by two parameters (RLP and IMPG) and only 30 subjects.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.16 no.5
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• pp.72-84
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• 2017

Together with the Big Data of the 4th Industrial Revolution, the traffic information system has been changed to an section detection system by the point detection system. With DTG(Digital Tachograph) data based on Global Navigation Satellite System, the properties of raw data and data according to processing step were examined. We identified the vehicle trajectory, the link travel time of individual vehicle, and the link average travel time which are generated according to the processing step. In this paper, we proposed a application method for traffic management as characteristics of processing data. We selected the historical data considering the data management status of the center and the availability at the present time. We proposed a method to generate the Travel Time Index with historical link average travel time which can be collected all the time with wide range. We propose a method to monitor the traffic congestion using the Travel Time Index, and analyze the case of intersections when the traffic operation method changed. At the same time, the current situation which makes it difficult to fully utilize DTG data are suggested as limitations.

• Archives of design research
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• v.15 no.1
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• pp.143-152
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• 2002

As the Internet has been a daily instrument of our lives, the numbers of Internet users are increasing rapidly. Especially, we have to pay special attention to about rapid increasing of juvenile users. In the 1990's, Kids are growing up literally surrounded by new technologies and mu1timedia experiences. For these kids, most of the techno1ologies that we adults find surprising or even incredible are a part of their everyday landscape, a fact of life. Currently, only few of research and discussion has gone into understanding this field. And most of these web sites, set importance on furnishing information only. So educational characters of web are not manifested fully as well as children soon get board with learning with Internet so that feel difficulties in searching and accepting information. At this point, we must try to develop educational sites Not only to show information but also to offer a rich and entertaining time for kids while providing playful teaming and increased technological fluency. Fer this purpose, Web site should be all about combining play with learning. Site navigation should be easy and the pages load quickly. The page download time is also being considerable, which could send kids withy mouse-fingers looking for entertainment elsewhere. Everything about the site must have a familiar feel, uses adequate colors to be satisfied with the juveniles. Multimedia can help the communications in the websites. To maximize the educational effect, technological research and continues invest are need, in addition to usability test.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.34 no.1
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• pp.53-62
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• 2016

In recent years, UAV Photogrammetry based on an ultra-light UAS(Unmanned Aerial System) installed with a low-cost compact navigation device and a camera has attracted great attention through fast and accurate acquirement of geo-spatial data. In particular, UAV Photogrammetry do gradually replace the traditional aerial photogrammetry because it is able to produce DEMs(Digital Elevation Models) and Orthophotos rapidly owing to large amounts of high resolution image collection by a low-cost camera and image processing software combined with computer vision technique. With these advantages, UAV-Photogrammetry has therefore been applying to a large scale mapping and cadastral surveying that require accurate position information. This paper presents experimental results of an accuracy performance test with images of 4cm GSD from a fixed wing UAS to demarcate parcel boundaries in agricultural area. Consequently, the accuracy of boundary point extracted from UAS orthoimage has shown less than 8cm compared with that of terrestrial cadastral surveying. This means that UAV images satisfy the tolerance limit of distance error in cadastral surveying for the scale of 1: 500. And also, the area deviation is negligible small, about 0.2%(3.3m²), against true area of 1,969m² by cadastral surveying. UAV-Photogrammetry is therefore as a promising technology to demarcate parcel boundaries.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.38 no.3
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• pp.259-267
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• 2020

For real-time precise positioning, N-RTK (Network Real-Time Kinematic) technology is widely used these days. However, the currently operating N-RTK system has a limitation in terms of the number of users. Therefore, if reference points generate correction messages with no limit on the number of users are developed later, it is determined that an appropriate reference point installation interval is required, so that the accuracy of the N-RTK system according to the baseline distance was analyzed. This experiment utilized receivers with varying performance that estimated the rover position, and RTKLIB, an open-source software, is used for processing data. As a result, the rover position was estimated accurately with a high rate of fixed ambiguity for all the receivers. When the reference station with a baseline length of 40 km was used, the vertical RMSE (Root Mean Squared Error) was quite similar to the short baseline case, but only half of the ambiguity fixing rate was achieved. The outlier in the estimated rover position was not observed for the longer baselines in the case of a high-end receiver. It is necessary to analyze the ambiguity fixing and the accuracy of the kinematic positioning with scientific GNSS processing software.

• The KIPS Transactions:PartD
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• v.13D no.3 s.106
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• pp.383-390
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• 2006

Product-line engineering is a dreaming goal in software engineering research. Unfortunately, the current underlying technologies do not seem to be still not much matured enough to make it viable in the industry. Based on our experiences in working on mobile telephony systems over 3 years, now we are in the course of developing an approach to product-line engineering for mobile telephony system software. In this paper, the experiences are shared together with our research motivation and idea. Consequently, we propose an approach to building and maintaining telephony application logics from the perspective of scenes. As a Domain-Specific Language(DSL), Menu Navigation Viewpoint(MNV) DSL is designed to deal with the problem domain of telephony applications. The functional requirements on how a set of telephony application logics are configured can be so various depending on manufacturer, product concept, service carrier, and so on. However, there is a commonality that all of the currently used telephony application logics can be generally described from the point of user's view, with a set of functional features that can be combinatorially synthesized from typical telephony services(i.e. voice/video telephony, CBS/SMS/MMS, address book, data connection, camera/multimedia, web browsing, etc.), and their possible connectivity. MNV DSL description acts as a backbone software architecture based on which the other types of telephony application logics are placed and aligned to work together globally.