• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.6
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• pp.465-472
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• 2019

The SPR (Single Photo Resection) is widely used as a method of estimating the EOPs (Exterior Orientation parameters) at the time of taking a photograph, but it requires an initial value and has a disadvantage of being sensitive to the initial value. In this study, we introduce quaternion-based single photo resection and PnP (Perspective-n-Point) algorithm that do not require initial values and compare the results. Photos were taken using a general smartphone, and the ground control point acquisition was based on the hybrid MMS (Mobile Mapping System) point cloud data possessed by the researchers. As a result, when the collinear condition based SPR is true value, quaternion-based SPR has higher attitude angle estimation accuracy than PnP algorithm. In case of camera position estimation, both algorithms showed accuracy within 0.8m when compared with ground control points.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.5
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• pp.83-83
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• 2004

The analysis of relative pose(position and rotation) between stereo cameras is very important to determine the solution that provides three-dimensional information for an arbitrary moving target with respect to robot-end. In the space of free camera-model, the rotational parameters act on non-linear factors acquiring a kinematical solution. In this paper the general solution of active stereo that gives a three-dimensional pose of moving object is presented. The focus is to achieve a derivation of linear equation between a robot′s end and active stereo cameras. The equation is consistently derived from the vector of quaternion space. The calibration of cameras is also derived in this space. Computer simulation and the results of error-sensitivity demonstrate the successful operation of the solution. The suggested solution can also be applied to the more complex real time tracking and quite general and are applicable in various stereo fields.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.5
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• pp.89-90
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• 2004

The analysis of relative pose(position and rotation) between stereo cameras is very important to determine the solution that provides three-dimensional information for an arbitrary moving target with respect to robot-end. In the space of free camera-model, the rotational parameters act on non-linear factors acquiring a kinematical solution. In this paper the general solution of active stereo that gives a three-dimensional pose of moving object is presented. The focus is to achieve a derivation of linear equation between a robot's end and active stereo cameras. The equation is consistently derived from the vector of quaternion space. The calibration of cameras is also derived in this space. Computer simulation and the results of error-sensitivity demonstrate the successful operation of the solution. The suggested solution can also be applied to the more complex real time tracking and quite general and are applicable in various stereo fields.

• East Asian mathematical journal
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• v.29 no.5
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• pp.521-527
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• 2013

The aim of this paper is to define hyperholomorphic function with sedenion variables in $\mathbb{C}^8$ and research the properties of hyperholomorphic functions of sedenion variables. We generalize the properties of hyperholomorphic functions in sedenionic analysis.

• Honam Mathematical Journal
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• v.38 no.4
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• pp.675-683
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• 2016

We give the representation of Fibonacci quaternions for convenient calculus. We research the corresponding properties of Fibonacci quaternions and some examples of a function with values in modified Fibonacci quaternions.

• The Pure and Applied Mathematics
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• v.22 no.1
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• pp.57-63
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• 2015

We define a hyperholomorphic function with values in split quaternions, provide split hyperholomorphic mappings on ${\Omega}{\subset}\mathbb{C}^2$ and research the properties of split hyperholomorphic functions.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.36 no.4
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• pp.255-262
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• 2018

In order to determine the three-dimensional position in photogrammetry, a spatial resection is a pre-requisite step to determine exterior orientation parameters. The existing spatial resection method is a non-linear equation that requires initial values of exterior orientation parameters and has a problem that a gimbal lock phenomenon may occur. On the other hand, the spatial resection using quaternion is a closed form solution that does not require initial values of EOP (Exterior Orientation Parameters) and is a method that can eliminate the problem of gimbal lock. In this study, to analyze the stability of the quaternion-based spatial resection, the exterior orientation parameters were determined according to the different layout of control points and were compared with the determined values using existing non-linear equation. As a result, it can be seen that the quaternionbased spatial resection is affected by the layout of the control points. Therefore, if the initial value of exterior orientation parameters could not be obtained, it would be more effective to estimate the initial exterior orientation values using the quaternion-based spatial resection and apply it to the collinearity equation-based spatial resection method.

• East Asian mathematical journal
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• v.31 no.5
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• pp.667-675
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• 2015

In this paper, we provide some properties of several left regular functions in Clifford analysis. We find the corresponding Cauchy-Riemann system and conjugate harmonic functions of the harmonic functions, for each left regular function in the sense of several complex variables. And we investigate certain properties of generalized quaternions in Clifford analysis.

• Honam Mathematical Journal
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• v.37 no.4
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• pp.569-575
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• 2015

In this paper, we research some properties of quaternionic regular functions in Clifford analysis. We investigate the corresponding Cauchy-Riemann system and find regularities of some hypercomplex valued functions.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2004.04a
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• pp.9-16
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• 2004

This paper deals with the development of computational schemes for the dynamic analysis of flexible and nonlinear multibody systems. Different from the existing method, this paper introduces the quaternion algebra to develop the equation of the conservation of energy. Simultaneously, Rodrigues parameters are used to express the finite rotation for the proposed scheme. The proposed energy scheme is derived such that it provides unconditionally stable conditions for the nonlinear problems. Several examples of dynamic systems are presented which illustrate the efficiency and accuracy of the developed energy schemes.