• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2012년도 춘계학술대회
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• pp.327-330
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• 2012

도시의 급격한 발전으로 공사의 증가가 증가하게 되고 이동 차량 또한 증가 하게 된다. 이는 자연히 시각 장애인들의 보행을 점점 더 어렵게 만든다. 이러한 어려움을 해결하고자 Android 기반의 Portable Navigation System을 도입하여 시각 장애인의 보행을 돕고, 서비스 센터에서 시각 장애인의 이동을 실시간으로 모니터링 하여서 시각 장애인의 보행에 도움을 주고자 한다. 노인이 서비스 센터에 배치되어 노인 인구 증가 문제의 해소 방안도 제공한다. 시각 장애인이 들고 다닐 수 있는 형태의 Android 기반의 Portable Navigation System은 GPS, Camera, Audio, wifi를 가지고 있어, GPS위치 정보와 Camera 영상 정보를 실시간으로 wifi망을 이용해 서비스 센터로 전송을 하여 주고, 서비스 센터에서 시각 장애인의 GPS Location 정보를 바탕으로 그 위치를 지도에 표시하고, Camera 영상 정보로 시각 장애인이 바라보고 있는 곳의 상황을 모니터링 하며, Audio를 통해, 실시간으로 대화를 통해서 길안내 해주는 Navigation System이다.

• 한국산업융합학회 논문집
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• 제22권4호
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• pp.427-433
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• 2019

This paper propose a fuzzy inference model for map building and navigation for a mobile robot with an active camera, which is intelligently navigating to the goal location in unknown environments using sensor fusion, based on situational command using an active camera sensor. Active cameras provide a mobile robot with the capability to estimate and track feature images over a hallway field of view. In this paper, instead of using "physical sensor fusion" method which generates the trajectory of a robot based upon the environment model and sensory data. Command fusion method is used to govern the robot navigation. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a command fusion technique is introduced, where the sensory data of active camera sensor for navigation experiments are fused into the identification process. Navigation performance improves on that achieved using fuzzy inference alone and shows significant advantages over command fusion techniques. Experimental evidences are provided, demonstrating that the proposed method can be reliably used over a wide range of relative positions between the active camera and the feature images.

• 한국정보통신학회논문지
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• 제16권12호
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• pp.2702-2707
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• 2012

도시의 급격한 발전으로 공사가 증가하게 되고 이동 차량 또한 증가 하게 된다. 이는 자연히 시각 장애인들의 보행을 점점 더 어렵게 만든다. 이러한 어려움을 해결하고자 Android 기반의 Portable Navigation System을 도입하여 시각 장애인의 보행을 돕고, 서비스 센터에서 시각 장애인의 이동을 실시간으로 모니터링 하여서 시각 장애인의 보행에 도움을 주고자 한다. 노인이 서비스 센터에 배치되어 노인 인구 증가 문제의 해소 방안도 제공한다. 시각 장애인이 소지하고 다닐 수 있는 형태의 Navigation System은 GPS, Camera, Audio, wifi를 장착하고 있다. GPS위치 정보와 Camera 영상 정보를 실시간으로 wifi망을 이용해 서비스 센터로 전송을 하여 주도록 설계 하였다. 서비스 센터에서 시각 장애인의 GPS Location 정보를 바탕으로 그 위치를 지도에 표시하고, Camera 영상 정보로 시각 장애인이 바라보고 있는 곳의 상황을 모니터링 하며, Audio를 통해, 실시간으로 대화를 통해서 길안내 해주는 Navigation System이다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제10권2호
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• pp.723-743
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• 2016

Indoor positioning is considered an enabler for a variety of applications, the demand for an indoor positioning service has also been accelerated. That is because that people spend most of their time indoor environment. Meanwhile, the smartphone integrated powerful camera is an efficient platform for navigation and positioning. However, for high accuracy indoor positioning by using a smartphone, there are two constraints that includes: (1) limited computational and memory resources of smartphone; (2) users' moving in large buildings. To address those issues, this paper uses the TC-OFDM for calculating the coarse positioning information includes horizontal and altitude information for assisting smartphone camera-based positioning. Moreover, a unified representation model of image features under variety of scenarios whose name is FAST-SURF is established for computing the fine location. Finally, an optimization marginalized particle filter is proposed for fusing the positioning information from TC-OFDM and images. The experimental result shows that the wide location detection accuracy is 0.823 m (1σ) at horizontal and 0.5 m at vertical. Comparing to the WiFi-based and ibeacon-based positioning methods, our method is powerful while being easy to be deployed and optimized.

• 한국항해항만학회지
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• 제31권9호
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• pp.779-784
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• 2007

This paper describes a new progressive embedded Internet Protocol(IP) camera available for real-time image transmission. It was applied for ship safety and security on seashore area. The functions of developed embedded system was more effective and excellent than conventional systems. Nowadays, each nation has established harbor security systems to jump up their ports to international port. Recently Incheon port has tried to change man security into center security system used by image security system. The security system of Incheon port has some advantages like effectivity of security system and reduction of manpower and cost, installed by image security system with CCTV cameras at the entrance gate and around the fence. Thus in this paper, we have designed and implemented a Personal Digital Assistants(PDA) based Image Surveillance System for Harbor Security using IP Camera under ubiquitous environment. This system has big advantages which are more effective in an emergency and low cost and small manpower than conventional systems.

• Journal of Positioning, Navigation, and Timing
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• 제12권2호
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• pp.129-140
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• 2023

Autonomous driving systems are likely to be operated in various complex environments. However, the well-known integrated Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS), which is currently the major source for absolute position information, still has difficulties in accurate positioning in harsh signal environments such as urban canyons. To overcome these difficulties, integrated Visual/Inertial/GNSS (VIG) navigation systems have been extensively studied in various areas. Recently, a Compressed-State Constraint Kalman Filter (CSCKF)-based VIG navigation system (CSCKF-VIG) using a monocular camera, an Inertial Measurement Unit (IMU), and GNSS receivers has been studied with the aim of providing robust and accurate position information in urban areas. For this new filter-based navigation system, on the basis of time-propagation measurement fusion theory, unnecessary camera states are not required in the system state. This paper presents a performance evaluation of the CSCKF-VIG system compared to other conventional navigation systems. First, the CSCKF-VIG is introduced in detail compared to the well-known Multi-State Constraint Kalman Filter (MSCKF). The CSCKF-VIG system is then evaluated by a field experiment in different GNSS availability situations. The results show that accuracy is improved in the GNSS-degraded environment compared to that of the conventional systems.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제2권1호
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• pp.1-8
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• 2002

It has been integrated into several navigation systems. This paper shows that system recognizes difficult indoor roads without any specific marks such as painted guide line or tape. In this method the robot navigates with visual sensors, which uses visual information to navigate itself along the read. The Neural Network System was used to learn driving pattern and decide where to move. In this paper, I will present a vision-based process for AMR(Autonomous Mobile Robot) that is able to navigate on the indoor read with simple computation. We used a single USB-type web camera to construct smaller and cheaper navigation system instead of expensive CCD camera.

• 한국멀티미디어학회논문지
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• 제17권7호
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• pp.787-796
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• 2014

Many mobile robot navigation methods utilize laser scanners, ultrasonic sensors, vision camera, and so on for detecting obstacles and path following. However, human utilizes only vision(e.g. eye) information for navigation. In this paper, we study a mobile robot control method based on only the camera vision. The Gaussian Mixture Model and a shadow removal technology are used to divide the foreground and the background from the camera image. The mobile robot uses a combined CAMSHIFT and KLT feature tracker algorithms based on the information of the foreground to follow a person. The algorithm is verified by experiments where a person is tracked and followed by a robot in a hallway.

• 한국군사과학기술학회지
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• 제14권6호
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• pp.993-1001
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• 2011

Unmanned ground vehicle for facility protection mostly uses model of territory for autonomous navigation. However, modeling of territory using several sensors is highly time consuming and sometimes inefficient for road application. Therefore, an estimation of drivable path based on features of road is required for high speed autonomous navigation on road. In this paper, an estimation method of drivable path using camera and 2D laser rangefinder is proposed. First, a vanishing point is estimated based on image data from CCD camera. Second, a road width is estimated based on range data from 2D laser rangefinder. Finally, the drivable path is estimated by fusing the vanishing point and the road width. The proposed method is tested on both well-structured road and unpaved road like cross-country situation.

• 한국항행학회논문지
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• 제15권5호
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• pp.696-704
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• 2011

본 논문에서는 단일 카메라와 초음파센서 데이터를 융합하는 이동 로봇 주행제어 알고리즘을 제안하였다. 이진화 영상처리를 위한 임계값을 영상 정보와 초음파센서 정보를 이용하는 퍼지추론기법으로 설정하였다. 임계값을 상황에 따라 가변하면 조도가 낮은 환경에서도 장애물 인식이 향상된다. 카메라 영상 정보와 초음파 센서 정보를 융합하여 장애물에 대한 격자지도를 생성하고 원궤적 경로기법으로 장애물을 회피하도록 한다. 제안된 알고리즘의 성능을 입증하기 위하여 조도가 낮은 실내와 좁은 복도에서 Pioneer 2-DX 이동로봇의 주행제어에 적용하였다.