• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.11
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• pp.3398-3407
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• 1996

In this paper, we derive an algorithm and develope a computer program which analyze rapidly and precisely the inverse kinematics of robotic mechanism with spatial complex chain structure based on the relative coordinates. We represent the inverse kinematic problem as an optimization problem with the kinematic constraint equations. The inverse kinematic analysis algorithm, therefore, consists of two algorithms, the main, an optimization algorithm finding the motion of independent joints from that of an end-effector and the sub, a forward kinematic analysis algorithm computing the motion of dependent joints. We accomplish simulations for the investigation upon the accuracy and efficiency of the algorithm.

• Proceedings of the Korea Information Processing Society Conference
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• 2006.11a
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• pp.109-112
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• 2006

이미지 모자이크 기법은 한 번에 촬영 할 수 없는 큰 배경이나 사물을 부분적으로 촬영 한 후 이들을 조합하여 전체 배경이나 사물을 합성하는 기술이다. 이 기술은 주로 지형을 촬영한 항공사진을 조합하여 전체 영상을 얻는 용도로 사용되어왔다. 본 연구에서는 일반적인 스틸사진의 조합이 아닌 동영상으로 촬영된 영상물로부터 전체 배경을 합성하는 방법에 대한 것이다. 이를 위하여 먼저 비디오 프레임간의 공통적인 특징 점들을 추출하고 일치되는 점들을 찾아내었다. 이로부터 두 프레임간의 상대적인 좌표를 구한 후 이를 저장하였다. 마지막으로 합성 단계에서는 저장된 상대 좌표로부터 부분 이미지를 연결하여 전체 이미지를 구하는 방법을 제안하였다. 제안된 방법은 근접 촬영이 필수인 협소공간의 고대 구조물의 육안 검사를 소형로봇 등의 원격 이동체에 실린 카메라로 수행하기 위한 용도에 응용될 수 있다.

• Proceedings of the IEEK Conference
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• 2000.09a
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• pp.367-370
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• 2000

본 논문에서는 영상에서의 칼라 정보를 위한 히스토그램과 단순 히스토그램만을 이용하는 데서 오는 공간정보 부족을 각 칼라 빈 (bin) 의 분포특성을 대표할 수 있는 공간분포좌표를 이용하여 표현하고 또한 이러한 빈 들의 상대적인 위치 정보를 색인 함으로써 영상의 회전이나 이동에 대해서도 강건한 영상색인 및 검색 알고리즘에 대해 기술한다.

• Journal of the Korea Convergence Society
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• v.11 no.10
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• pp.45-51
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• 2020

Recently, many games provide data related to the users' game play, and there have been a few studies that predict opponent move by combining machine learning methods. This study predicts opponent move using match data of a real-time strategy game named ClashRoyale and a multi-label classification based on machine learning. In the initial experiment, binary card properties, binary card coordinates, and normalized time information are input, and card type and card coordinates are predicted using random forest and multi-layer perceptron. Subsequently, experiments were conducted sequentially using the next three data preprocessing methods. First, some property information of the input data were transformed. Next, input data were converted to nested form considering the consecutive card input system. Finally, input data were predicted by dividing into the early and the latter according to the normalized time information. As a result, the best preprocessing step was shown about 2.6% improvement in card type and about 1.8% improvement in card coordinates when nested data divided into the early.

• The Journal of Engineering Geology
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• v.33 no.2
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• pp.229-240
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• 2023

Instruments are installed in soft ground improvement projects to manage economic and safe construction. When analyzing data, the amount of settlement data over time can be used to understand the overall ground settlement behavior, but it is difficult to analyze the interrelatedness between measurement points. Therefore, to analyze the relative compressive settlement behavior between measurement points, the settlement amount and velocity were processed and defined as the mean settlement difference index (AS_i,j) and the slope difference index (SDI_i,j). Plotted in the mean settlement difference index - slope difference index (AS_i,j-SDI_i,j) coordinate system. As a result of the analysis of the relative compaction subsidence behavior between the measuring points, the relationship between the measuring points in the average subsidence difference index - slope difference index coordinate system moved to area 1 as the compaction was completed. By continuously plotting the movement path of the observation point in the corresponding coordinate system, the relative settlement behavior between the measurement points was analyzed, and it was possible to check whether the settlement behavior of the two measurement points was stable or unstable depending on the direction of the path.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.1C
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• pp.26-35
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• 2006

In this paper, an automatic mobile robot system for a intelligent path planning using the detection scheme of the spatial coordinates based on stereo camera is proposed. In the proposed system, face area of a moving person is detected from a left image among the stereo image pairs by using the YCbCr color model and its center coordinates are computed by using the centroid method and then using these data, the stereo camera embedded on the mobile robot can be controlled for tracking the moving target in real-time. Moreover, using the disparity map obtained from the left and right images captured by the tracking-controlled stereo camera system and the perspective transformation between a 3-D scene and an image plane, depth information can be detected. Finally, based-on the analysis of these calculated coordinates, a mobile robot system is derived as a intelligent path planning and a estimation. From some experiments on robot driving with 240 frames of the stereo images, it is analyzed that error ratio between the calculated and measured values of the distance between the mobile robot and the objects, and relative distance between the other objects is found to be very low value of $2.19\%$ and $1.52\%$ on average, respectably.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2006.04a
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• pp.145-149
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• 2006

모바일 맹핑시스템에 장착되어 있는 카메라와 INS의 물리적 관계 (두 좌표축 간의 거리(lever-arm) 와 각도(boresight) 캘리브레이션은 카메라 영상의 지리적 정보를 생성하기 위해 필요로 한다. 이 목적을 위해 기존연구는 카메라 캘리브레이션을 통하여 이 물리적 관계를 추정하고 있다. 카메라 캘리브레이션은 3차원 좌표가 할당된 타겟을 이용하여 움직이는 카메라의 렌즈 왜곡과 내/외부 표정 계산하는 것이다. 이 추정에서, 저가의 INS의 초기상태인 자세, 각도는 사용자의 측량에 의해 결정이 된다. 만약 정교한 측량이 없을 경우, 카메라 영상의 지리적 정보는 잘못된 정보를 제공 할 것이다. 정교한 측량의 어려움을 피하기 위해, 본 논문은 카메라와 초기상태 정보가 없는 INS간의 물리적 관계를 위한 수학적 모델을 설계하였다. 시스템에 장착된 카메라와 INS의 초기 기준 좌표계의 관계는 lever-arm과 boresight을 이용한 좌표축 변환으로 정의 될 수 있으며, 이 시스템이 이동 후, 카메라 초기 기준 좌표계에서 INS의 위치는 두 개의 벡터 경로로 정의 될 수 있다. 이 두 벡터 경로는 카메라와 INS의 상대 외부표정의 관계를 이용하여 계산된 벡터들의 조합으로 정의된다. 본 논문은 여러 쌍의 경로로부터 lever-arm과 boresight을 추정하였다.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.24 no.4
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• pp.319-326
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• 2006

To get the highly-accurate and precise position of a GPS receiver, they should consider the state-of-the-art GPS force and measurement models. Especially, the phase center variations (PCV) of a GPS antenna can cause several centimeters of positioning errors in the vertical direction. In this study, we implemented four different models of PCV and evaluated their impact on the computed coordinates. The test data were taken from the 14 National Geography Information Institute permanent GPS stations and 30 Minisry of Government Administration and Home Affairs sites. For different combinations of calibration methods, an average of 1.3-2.6cm of height difference was observed. Also, we found a maximum error of ${\sim}4mm$ in the estimates of the precipitable water vapors.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.26 no.6
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• pp.611-616
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• 2008

When extracting geo-referenced 3D data from cameras mounted on Mobile Mapping Systems, one of important properties for accuracy of extracted data is the alignment of the relative translation(lever-arm) and rotation(bore-sight) between the coordinate systems of Inertial Measurement Unit(IMU)/Ground Positioning System(GPS) and cameras. Since the conventional method calculates absolute camera orientation using ground control points (GCP), the alignment is determined in one Coordinated System (GPS Coordinated System). It basically require GCP. We proposed a mathematical model for the alignment using the initially uncoupled data of cameras and IMU/GPS without GCPs.

• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• v.8 no.3
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• pp.467-475
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• 2018

Recently earthquakes have been increasing worldwide, and the largest earthquake of 5.8 on the Richter scale occurred on September 12, 2016 in the Gyeongju area. After the earthquake, more than 200 aftershocks have occurred from January 2017 to December 2017. The largest earthquake in 2017 was a 4.3-magnitude earthquake near Pohang on November 15. In this study, we tried to analyze the coordinate change due to the earthquake using the data of the CORS(Continuously Operating Reference Station) in Korea. In order to analyze the change of coordinates due to the earthquake in Pohang area on November 15, 2017, data processing was performed by kinematic method. And from January 2017 to December 2017, observation data of 9 stations in Korea were analyzed by relative positioning method and the change of coordinates due to earthquake was analyzed. As a result of the study, it was possible to estimate the instantaneous coordinate change due to the earthquake through the kinematic positioning, and it was suggested that there is no change in the coordinates of the domestic CORS by the relative positioning results. After the 2017 Gyeongju earthquake, aftershocks continue to occur, and it is necessary to monitor the area continuously.