• The Journal of Korea Robotics Society
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• v.13 no.1
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• pp.26-30
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• 2018

Planetary global localization is necessary for long-range rover missions in which communication with command center operator is throttled due to the long distance. There has been number of researches that address this problem by exploiting and matching rover surroundings with global digital elevation maps (DEM). Using conventional methods for matching, however, is challenging due to artifacts in both DEM rendered images, and/or rover 2D images caused by DEM low resolution, rover image illumination variations and small terrain features. In this work, we use train CNN discriminator to match rover 2D image with DEM rendered images using conditional Generative Adversarial Network architecture (cGAN). We then use this discriminator to search an uncertainty bound given by visual odometry (VO) error bound to estimate rover optimal location and orientation. We demonstrate our network capability to learn to translate rover image into DEM simulated image and match them using Devon Island dataset. The experimental results show that our proposed approach achieves ~74% mean average precision.

• Proceedings of the KSRS Conference
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• 1998.09a
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• pp.325-330
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• 1998

The first Korean remote sensing satellite, Korea Multi-Purpose Satellite (KOMPSAT-1), is going to be launched in 1999. This will carry a 7m resolution Electro-Optical Camera (EOC) for earth observation. The primary mission of the KOMPSAT-1 is to acquire stereo imagery over the Korean peninsular for the generation of 1:25,000 cartographic maps. For this mission, research is being carried out to assess the possibilities of automated or semi-automated mapping of EOC data and to develop, if necessary, such enabling tools. This paper discusses the issue of automated DEM generation from EOC data and identifies some important aspects in developing a for DEM generation system from EOC data. This paper also presents the current status of the development work for such a system. The development work has focused on sensor modelling, stereo matching and DEM interpolation techniques. The performance of the system is shown with a SPOT stereo pair. A DEM generated from a commercial software is also presented for comparison. The paper concludes that the proposed system creates preferable results to the commercial software and suggests future developments for successful generation of DEM for EOC data.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2004.04a
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• pp.221-226
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• 2004

For comparing more than two images, the precise geometric corrections should be preceded because it necessary to eliminate systematic errors due to basic sensor information difference and non-systematic errors due to topographical undulations. In this study, we did sensor modeling using satellite sensor information to make a basic map of change detection for artificial topography. We eliminated the systematic errors which can be occurred in photographing conditions using GCP and DEM data. The Kompsat EOC images relief could be reduced by precise rectification method. Classifying images which was used for change detections by city and forest zone, the accuracy of the matching results are increased by 10% and the positioning accuracies also increased.

• Journal of the Korea Society of Computer and Information
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• v.10 no.6 s.38
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• pp.177-186
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• 2005

In this Paper. we propose vision-based camera localization technique using 3D information which is created by mapping of DEM and mountain image. Typically, image features for localization have drawbacks, it is variable to camera viewpoint and after time information quantify increases . In this paper, we extract invariance features of geometry which is irrelevant to camera viewpoint and estimate camera extrinsic Parameter through accurate corresponding Points matching by Proposed similarity evaluation function and Graham search method we also propose 3D information creation method by using graphic theory and visual clues, The Proposed method has the three following stages; point features invariance vector extraction, 3D information creation, camera extrinsic Parameter estimation. In the experiments, we compare and analyse the proposed method with existing methods to demonstrate the superiority of the proposed methods.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2007.04a
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• pp.187-190
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• 2007

This study is for analyzing best band in image matching using correlation coefficient of left and right images of stereo image pair, lot red, green, blue band images separated from color aerial photo and gray image converted from the same color aerial photo image. The image matching is applied to construct Digital Elevation Model(DEM) or terrain data. The correlation coefficients and variation by change of pixel patch size are computed from pixel patches of which sizes are $11{\times}11{\sim}101{\times}101$. Consequently, the correlation coefficient in red band image is highest. The lowest is in blue band. Therefore, to construct terrain data using image matching, the red band image is preferable. As the size of pixel patch is growing, the correlation coefficient is increasing. But increasing rate declines from $51{\times}51$ image patch size and above. It is proved that the smaller pixel patch size than $51{\times}51$ is applied to construct terrain data using image matching.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2209-2211
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• 1998

This paper presents the matching algorithm with the satellite images using the image warping method. Two stereo images, which are used for the DEM(Digital Elevation Model) extraction, are generally distorted because the images are acquired at different locations and angles. Therefore, the matching Process can't be executed with the original images. To solve this problem, a dynamic triangular image warping method is proposed. At first, the initial matching is executed with seed point, and then, using the matched points from the initial matching, the distorted images is compensated. We experimented this algorithm with the parts of the $6000{\times}6000$ SPOT satellite images. The experiment results show this algorithm is superior to other warping algorithm.

• Journal of Korean Society for Geospatial Information Science
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• v.14 no.4 s.38
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• pp.61-70
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• 2006

This paper presents photogrammetric processing to generate digital elevation models using SPOT-5 HRG stereo images and deals with the accuracy potential of HRG (High Resolution Geometry) supermode imagery for DEM generation. After bundle adjustment was preformed for sensor modelling, digital surface models were generated through the procedures of Epipolar image resampling and image matching. The DEM extracted from HRG imagery was compared along several test sections with the the refernce DEM which was obtained from the digital topographic maps of a scale of 1 to 5000. The ratio of the zone with DEM errors less than 5m to the whole zone was 53.8%, and about 2.5m RMSE was showed when assuming that the zones larger than 5m were affected by clouds, water bodies and buildings and excluding those zones from accuracy evaluation. In addition, the three-dimensional bird's eye view model and 3D building model were producted based on the DSM which was extracted from SPOT-5 HRG data.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.17 no.4
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• pp.421-429
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• 1999

It is estimated that, in the twenty-first century, 70％ of global citizens will live in urban areas. This accelerated urbanization will require a greater need for the building DEM and orthoimagery along with Geographic Information System for urban management. The building DEM requires the detection of outlines showing building shapes. To do this, automatic and semiautomatic building extractions are usually used. However, in cases where automatic extraction is performed directly from the aerial images, accurate building outline extraction is very difficult because of shadow, roof color, and neighboring trees making it hard to discern building roofs. To overcome this problem semiautomatic building extraction was suggested in this paper. When a roof texture was homogeneous, building outline detection was performed by mouse-clicking on a part of the roof. To construct the building outlines when the texture was not homogeneous, a computer program was developed to search out corner points by clicking spots near corner points. The building DEM was generated by taking into account building outlines and heights calculated by image matching.

• Journal of Korean Society for Geospatial Information Science
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• v.22 no.3
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• pp.121-128
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• 2014

This study investigated the accuracy of DEM generated by heterogeneous stereo satellite images based on RPC. Heterogeneous sensor images with different spatial resolution are SPOT-5 panchromatic and IKONOS images. For the accuracy evaluation of the DEM, we compared the DEMs generated from two kinds of sensors and that produced using homogeneous SPOT-5 and IKONOS stereo images. As results of the evaluation, accuracy of 3D positioning by heterogeneous images was substantially similar to that of homogeneous stereo images for exact conjugate points. But, in terms of quality of the DEM, DEM generated by heterogeneous sensor showed a lower accuracy about twice in RMSE and about 3 times in LE90 than that of homogeneous sensors. As a result, DEM can be generated by using heterogenous satellite imagery. But if we use a stereo image with different spatial resolution, the performance of image matching was very important factor for the production of high-quality DEM.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2003.10a
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• pp.385-389
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• 2003

최근 고해상도의 인격탐사 위성영상을 이용한 국토공간정보의 환용은 국토계획, 자원조사, 농림업, 건설계획, 국방분야, 환경감시 및 방재, 관광조사 등 여러 분야에서 다양하게 적용되고 있다. 본 연구에서는 과거에 저해상도의 위성영상을 이용하여 수십년전의 지형공간의 조사와 분석을 위한 서로 다른 촬영 시기와 해상도가 다른 Corona 위성사진과 Landsat 위성영상을 합성하여 새로운 퓨젼영상을 생성하는 방법과 퓨젼영상 위에 DEM을 매칭하여 적용하기 위한 벡터데이터 매칭시에 발생할 수 있는 오차의 정도를 확인하기 위한 실험을 통하여 과거 영상복원에 적절한 중첩과 매치의 기법을 발견하여 좀더 정확한 공간정보의 활용 가능성을 제시하고자 하였다.