• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.9
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• pp.95-103
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• 1998

This paper proposes an image segmentation algorithm based on fusion of range and intensity images. Based on Bayesian theory, a priori knowledge is encoded by the Markov random field (MRF). A maximum a posteriori (MAP) estimator is constructed using the features extracted from range and intensity images. Objects are approximated by local planar surfaces in range images, and the parametric space is constructed with the surface parameters estimated pixelwise. In intensity images the ${\alpha}$-trimmed variance constructs the intensity feature. An image is segmented by optimizing the MAP estimator that is constructed using a likelihood function based on edge information. Computer simulation results shw that the proposed fusion algorithm effectively segments the images independentl of shadow, noise, and light-blurring.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.33 no.1
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• pp.63-70
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• 2015

An Image fusion, or Pansharpening is a methodology of increasing the spatial resolution of image with low-spatial resolution using high-spatial resolution images. In this paper, we have performed an image fusion of hyperspectral imagery by using panchromatic image with high-spatial resolution, multispectral and hyperspectral images with low-spatial resolution, which had been acquired by ALI and Hyperion of EO-1 satellite sensors. The study has been mainly focused on evaluating performance of fusion process following to the image fusion methodology of the block association, which had applied to ALI and Hyperion dataset by considering spectral characteristics between multispectral and hyperspectral images. The results from experiments have been identified that the proposed algorithm efficiently improved the spatial resolution and minimized spectral distortion comparing with results from a fusion of the only panchromatic and hyperspectral images and the existing block-based fusion method. Through the study in a proposed algorithm, we could concluded in that those applications of airborne hyperspectral sensors and various hyperspectral satellite sensors will be launched at future by enlarge its usages.

• International journal of advanced smart convergence
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• v.9 no.3
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• pp.232-238
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• 2020

In this paper, we study on aerial objects detection and position estimation algorithm for the safety of UAV that flight in BVLOS. We use the vision sensor and LiDAR to detect objects. We use YOLOv2 architecture based on CNN to detect objects on a 2D image. Additionally we use a clustering method to detect objects on point cloud data acquired from LiDAR. When a single sensor used, detection rate can be degraded in a specific situation depending on the characteristics of sensor. If the result of the detection algorithm using a single sensor is absent or false, we need to complement the detection accuracy. In order to complement the accuracy of detection algorithm based on a single sensor, we use the Kalman filter. And we fused the results of a single sensor to improve detection accuracy. We estimate the 3D position of the object using the pixel position of the object and distance measured to LiDAR. We verified the performance of proposed fusion algorithm by performing the simulation using the Gazebo simulator.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.1316-1318
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• 2003

The Bernstein polynomial is one of the classic algorithms of panoramic images mosaic for shading into process applying in Virtual Reality modeling. Nevertheless, it is proven that the algorithm has its own limitation and weakness in applications. This paper was given the improved algorithm using Sinusoidal function for image mosaic. In order to put the new algorithm into image processing software as a flexible and general tool, it was further developed an extension for graduation image fusion and multi-images mosaic.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.8 no.3
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• pp.220-224
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• 2008

This paper presents the polygon-based Q-leaning and Parallel SVM algorithm for object search with multiple robots. We organized an experimental environment with one hundred mobile robots, two hundred obstacles, and ten objects. Then we sent the robots to a hallway, where some obstacles were lying about, to search for a hidden object. In experiment, we used four different control methods: a random search, a fusion model with Distance-based action making (DBAM) and Area-based action making (ABAM) process to determine the next action of the robots, and hexagon-based Q-learning, and dodecagon-based Q-learning and parallel SVM algorithm to enhance the fusion model with Distance-based action making (DBAM) and Area-based action making (ABAM) process. In this paper, the result show that dodecagon-based Q-learning and parallel SVM algorithm is better than the other algorithm to tracking for object.

• Journal of Information Processing Systems
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• v.18 no.5
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• pp.665-676
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• 2022

In modern logistics, the effective use of the vehicle volume and loading capacity will reduce the logistic cost. Many heuristic algorithms can solve this knapsack problem, but lots of these algorithms have a drawback, that is, they often fall into locally optimal solutions. A fusion optimization method based on simulated annealing algorithm (SA) and binary particle swarm optimization algorithm (BPSO) is proposed in the paper. We establish a logistics knapsack model of the fusion optimization algorithm. Then, a new model of express logistics simulation system is used for comparing three algorithms. The experiment verifies the effectiveness of the algorithm proposed in this paper. The experimental results show that the use of BPSO-SA algorithm can improve the utilization rate and the load rate of logistics distribution vehicles. So, the number of vehicles used for distribution and the average driving distance will be reduced. The purposes of the logistics knapsack problem optimization are achieved.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1811-1812
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• 2008

This paper represents a absolute position tracking system with sensor fusion and PD-gain. this paper presents an accurate localization method by relative and absolute sensor fusion and PD control for position tracking of mobile robot. we developed a sensor based absolution position tracking and smooth moving algorithm using this algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.64.4-64
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• 2001

Localization is the key role in controlling the Mobile Robot. In this papers, a development of the sensor fusion algorithm for controling UTV(Unmanned Tracked Vehicle) is presented. The multi-sensocial dead-rocking subsystem is established based on the optimal filtering by first fusing heading angle reading from a magnetic compass, a rate-gyro and two encoders mouned on the robot wheels, thereby computing the deat-reckoned location. These data and the position data provoded by LBL system are fused together by means of an extended Kalman filter. This algorithm is proved by simulation studies.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.10 no.4
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• pp.281-286
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• 2010

We propose a space and time based sensor fusion method and a robust landmark detecting algorithm based on sensor fusion for mobile robot navigation. To fully utilize the information from the sensors, first, this paper proposes a new sensor-fusion technique where the data sets for the previous moments are properly transformed and fused into the current data sets to enable an accurate measurement. Exploration of an unknown environment is an important task for the new generation of mobile robots. The mobile robots may navigate by means of a number of monitoring systems such as the sonar-sensing system or the visual-sensing system. The newly proposed, STSF (Space and Time Sensor Fusion) scheme is applied to landmark recognition for mobile robot navigation in an unstructured environment as well as structured environment, and the experimental results demonstrate the performances of the landmark recognition.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.9
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• pp.863-870
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• 2012

This paper presents a track-to-tack information fusion algorithm using tracks of 2D and 3D radars. Before track fusion, it is needed to match the dimension of the tracks, as the tracks generated by 2D and 3D radars have different dimensions. This paper suggests how the 2D tracks are converted to the 3D tracks for track fusion. Through simulation studies, we can verify that the performance of the proposed method.