• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.5
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• pp.275-280
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• 2013

In this paper, a new stereo object extraction algorithm using a block-based MSE (mean square error) algorithm and the configuration parameters of a stereo camera is proposed. That is, by applying the SSD algorithm between the initial reference image and the next stereo input image, location coordinates of a target object in the right and left images are acquired and then with these values, the pan/tilt system is controlled. And using the moving angle of this pan/tilt system and the configulation parameters of the stereo camera system, the mask window size of a target object is adaptively determined. The newly segmented target image is used as a reference image in the next stage and it is automatically updated in the course of target tracking basing on the same procedure. Meanwhile, a target object is under tracking through continuously controlling the convergence and FOV by using the sequentiall extracted location coordinates of a moving target.

• Spatial Information Research
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• v.11 no.1
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• pp.41-60
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• 2003

It is noted that the paper mapping system for University Building Facility has many limitations in terms of data maintenance, real-time GIS data acquisition, and economic efficiency. The aim of this research was to evaluate an operational potential of an on site real-time mobile GIS technique to resolve the problem faced in the university. The idea is based upon the recent trends in the field of 'Telecommunication and Information Technology' that uses a PDA (personal Digital Assistants), wireless network computing, mobile computing, etc. A real time mobile GIS approach has been adopted, in which a PDA is linked to a wireless internet and field workers record data on the computer at the site and analyse data on site. While there should be a considerable number and variety of factors associated with real-time mobile GIS quality, this research focuses on three criteria that are identified as fundamental to customer requirements; (1) data quarry (2) spatial analysis (3) real-time GIS database building. 'Art--empirical study for a case study facility has been conducted to confirm the validity for the system. The system has been checked experimentally, enabled the field users to quarry the data required simply and execute spatial analysis (buffer, overlay etc.,) accommodating versatile alternatives on the site. Detailed visual maps can be generated over large areas quickly and easily. The PDA interface, in particular, were ideally suited for field users to interactively displaying positional information with attribute data. This system has shown to be quite convenient to maintaining a highly reliable database since it could playa crucial role in documenting at real-time basis temporal and spatial changes occurred in the facilities. It is anticipated that this research output will greatly serve to introduce the reliable and cost-effective facility mapping system in the university by overcoming serious constraints suffered from the past non-real time mobile GIS approach.

• Journal of the Institute of Convergence Signal Processing
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• v.5 no.4
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• pp.256-262
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• 2004

A key component of an autonomous mobile robot is to localize itself and build a map of the environment simultaneously. In this paper, we propose a vision-based localization and mapping algorithm of mobile robot using fisheye lens. To acquire high-level features with scale invariance, a camera with fisheye lens facing toward to ceiling is attached to the robot. These features are used in mP building and localization. As a preprocessing, input image from fisheye lens is calibrated to remove radial distortion and then labeling and convex hull techniques are used to segment ceiling and wall region for the calibrated image. At the initial map building process, features we calculated for each segmented region and stored in map database. Features are continuously calculated for sequential input images and matched to the map. n some features are not matched, those features are added to the map. This map matching and updating process is continued until map building process is finished, Localization is used in map building process and searching the location of the robot on the map. The calculated features at the position of the robot are matched to the existing map to estimate the real position of the robot, and map building database is updated at the same time. By the proposed method, the elapsed time for map building is within 2 minutes for 50㎡ region, the positioning accuracy is ±13cm and the error about the positioning angle of the robot is ±3 degree for localization.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.10a
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• pp.1027-1030
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• 2013

For the detection of objects in the videos, there are various ways that use the frequency transformation. In the videos, the images of objects could be changed slightly. Object detection methods using frequency transformation such as ASEF and MOSSE have the ability to renew the detection filter in order to deal with the change of object images. But these approaches are likely to fail the detection because the image changes often occur when they come out again after being hidden by other objects. What is worse, when they show up again, they appear in another place, not the original one. In this paper, a new proposal is present so that the detection can be carried out efficiently even when the images come out in other place, and the failure of the detection can be reduced.

• The Journal of Information Systems
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• v.19 no.1
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• pp.1-17
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• 2010

This paper proposes an updating policy of indoor moving object databases (IMODB) for location-based services. our method applies the Ka1man filter on the recently collected measured positions to estimate the moving object's position and velocity at the moment of the most recent measurement, and extrapolate the current position with the estimated position and velocity. If the distance between the extrapolated current position and the measured current position is within the threshold, in other words if they are close then we skip updating the IMODB. When the IMODB needs to know the moving object's position at a certain moment T, it applies the Kalman filter on the series of the measurements received before T and extrapolates the position at T with the estimations obtained by the Kalman filter. In order to verify the efficiency of our updating method, we performed the experiments of applying our method on the series of measured positions obtained by applying the fingerprinting indoor positioning method while we are actually walking through the test bed. In the analysis of the test results, we estimated the communication saving rate of our method and the error increment rate caused by the communication saving.

• The Journal of the Korea Contents Association
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• v.12 no.8
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• pp.47-58
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• 2012

In this paper, we propose a continuous k-nearest neighborhood query processing method for updating the query results in real-time over mobile peer-to-peer environments. The proposed method disseminates a monitoring region to efficiently monitor the k-nearest neighbor peers. The Monitoring Region is created to assure at least k peers as the result of the query within the time range using the vector of neighbor peers. In the propose method, the monitoring region is valid for a long time because it is calculated by the vector of neighbor peers of the query peer. Therefore, the proposed method decreases the cost of re-processing by monitoring region invalidation. In order to show the superiority of the proposed method, we compare it with the previous schemes through performance evaluation.

• Journal of Korea Spatial Information System Society
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• v.6 no.1 s.11
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• pp.73-85
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• 2004

Recently, as the growth of the wireless Internet, PDA and HPC, the focus of research and development related with GIS(Geographic Information System) has been changed to the Real-Time Mobile GIS to service LBS. To offer LBS efficiently, there must be the Real-Time GIS platform that can deal with dynamic status of moving objects and a location index which can deal with the characteristics of location data. Location data can use the same data type(e.g., point) of GIS, but the management of location data is very different. Therefore, in this paper, we studied the Real-Time Mobile GIS using the HBR-tree to manage mass of location data efficiently. The Real-Time Mobile GIS which is developed in this paper consists of the HBR-tree and the Real-Time GIS Platform HBR-tree. we proposed in this paper, is a combined index type of the R-tree and the spatial hash Although location data are updated frequently, update operations are done within the same hash table in the HBR-tree, so it costs less than other tree-based indexes Since the HBR-tree uses the same search mechanism of the R-tree, it is possible to search location data quickly. The Real-Time GIS platform consists of a Real-Time GIS engine that is extended from a main memory database system. a middleware which can transfer spatial, aspatial data to clients and receive location data from clients, and a mobile client which operates on the mobile devices. Especially, this paper described the performance evaluation conducted with practical tests if the HBR-tree and the Real-Time GIS engine respectively.

• Proceedings of the Korean Information Science Society Conference
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• 2001.10c
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• pp.202-204
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• 2001

가상 세계의 공유 개념은, 특히 사용자들이 인터넷 같이 대규모 네트웍을 통해 지역적으로 분산된 경우는 복제가 수용할 수 있는 상호작용 성능을 제공하기 때문에 각 사용자의 사이트에 정보를 복제함으로써 확장된다. 그러나, 다수의 동시 갱신은 replicas간의 일관되지 않은 뷰를 일으키게 될 것이다. 따라서, 동시성 제어가 복제자들간에 일관된 상태를 유지하도록 하기 위한 중요한 요소가 된다. 우리는 단지 대상 객체의 주변에 있는 사용자들만이 소유권 요청을 다중 전송하게 하는 확장성 있는 예측기반 동시성 제어 스킴을 제안했었다. 이 작업에서, 우리는 모든 사용자들이 동일한 속도론 가지고 가상 세계를 이동한다고 가정했다. 이것은, 그러나, 좀더 사실성을 더하기 위해 사용자가 가상 세계와 상호작용을 할 매 그들의 이동속도를 변경하도록 하는 네트웍 게임같은 네트웍 가상 환경에서는 너무 common 하다. 본 논문은 다양한 속도를 가진 사자를 지원하기 위한 확장을 제안한다. 확장된 스킴은 다른 속도의 수만큼의 다중 Entity Radii를 가지며 각 속도를 가진 사용자에게 분리된 큐를 할당한다. 각 큐는 다음 소유자 후보를 예측하기 위해 동시에 예측을 수행하고 선택된 후보들간에서 최소의 Predicted Collision Time을 가지는 최종 후보자가 선택된다. 이는 사용자의 속도에 기반을 둔 적절한 Entity Radius를 사용함으로써 소유권의 timely advanced transfer과, 다른 이돔 속도와 latency를 가지는 사용자들 간의 간섭을 줄임으로써 공정(공평)한 소유권 양도, 그리고 불필요한 소유권 전송을 줄임으로써 놓은 예측 정확도를 제공한다.성을 지닌 AMMQL 학습법은 로봇축구와 같이 끊임없이 실시간적으로 변화가 일어나는 다중 에이전트 환경에서 특히 높은 효과를 볼 수 있다. 본 논문에서는 AMMQL 학습방법의 개념을 소개하고, 로봇축구 에이전트의 동적 위치 결정을 위한 학습에 어떻게 이 학습방법을 적용할 수 있는지 세부 설계를 제시한다.다.으로서 hemicellulose구조가 polyuronic acid의 형태인 것으로 사료된다. 추출획분의 구성단당은 여러 곡물연구의 보고와 유사하게 glucose, arabinose, xylose 함량이 대체로 높게 나타났다. 점미가 수가용성분에서 goucose대비 용출함량이 고르게 나타나는 경향을 보였고 흑미는 알칼리가용분에서 glucose가 상당량(0.68%) 포함되고 있음을 보여주었고 arabinose(0.68%), xylose(0.05%)도 다른 종류에 비해서 다량 함유한 것으로 나타났다. 흑미는 총식이섬유 함량이 높고 pectic substances, hemicellulose, uronic acid 함량이 높아서 콜레스테롤 저하 등의 효과가 기대되며 고섬유식품으로서 조리 특성 연구가 필요한 것으로 사료된다.리하였다. 얻어진 소견(所見)은 다음과 같았다. 1. 모년령(母年齡), 임신회수(姙娠回數), 임신기간(姙娠其間), 출산시체중등(出産時體重等)의 제요인(諸要因)은 주산기사망(周産基死亡)에 대(對)하여 통계적(統計的)으로 유의(有意)한 영향을 미치고 있어 $25{\sim}29$세(歲)의 연령군에서, 2번째 임신과 2번째의 출산에서 그리고 만삭의 임신 기간에, 출산시체중(出産時體重) $3.50{\sim}3.99kg$사이의 아

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.20 no.6
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• pp.101-107
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• 2020

Road surface measurement is an essential process for quantifying the degree and displacement of roughness in road surface management. For safer road surface management and quick maintenance, it is important to accurately measure the road surface while mounted on a vehicle. In this paper, we propose a sophisticated road surface measurement system that can be measured on a moving vehicle. The proposed road surface measurement system supports more accurate measurement of the road surface by using a high-performance line laser sensor. It is also possible to measure the transverse and longitudinal profile by matching the position information acquired from the RTK, and the velocity adaptive update algorithm allows a manager to monitor in a real-time manner. In order to evaluate the proposed system, the Gocator laser sensor, MRP module, and NVIDIA Xavier processor were mounted on a test mobile and tested on the road surface. Our evaluation results demonstrate that our system measures accurate profile base on the MSE. Our proposed system can be used not only for evaluating the condition of roads but also for evaluating the impact of adjacent excavation.

• Journal of KIISE:Computing Practices and Letters
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• v.13 no.6
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• pp.397-401
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• 2007

Recent applications on continuous queries on moving objects are extended quickly to various parts. These applications need not only 2-dimensional space data but also high-dimensional space data. If we use previous index for overlapped continuous range queries on high-dimensional space data, as the number of continuous range queries on a large number of moving objects becomes larger, their performance degrades significantly. We focus on stationary queries, non-exponential increase of storage cost and efficient processing time for large data sets. In this paper, to solve these problems, we present a novel query indexing method, denoted as PAB(Projected Attribute Bit)-based query index. We transfer information of high-dimensional continuous range query on each axis into one-dimensional bit lists by projecting technique. Also proposed query index supports incremental update for efficient query processing. Through various experiments, we show that our method outperforms the CES(containment-encoded squares)-based indexing method which is one of the most recent research.