• Proceedings of the KSME Conference
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• 2001.06b
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• pp.330-334
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• 2001

This paper presents the way of building an occupancy grid map which a mobile robot needs to autonomously navigate in the unknown environment. A disparity map resulting from stereo matching can be converted into the 2D distance information. If the stereo matching has some errors, however, the subsequent map becomes unreliable. In this paper, a new morphological filter is proposed to reject 'spikes' of the disparity map due to stereo mismatch by considering the fact that these spikes occur locally. The new method has advantages that it is simpler and more easily realized than existing similar algorithms.

• Journal of Korea Multimedia Society
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• v.22 no.4
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• pp.417-423
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• 2019

This paper presents an evaluation system to determine the completeness of a space map obtained by a visual SLAM(Simultaneous Localization And Mapping) algorithm. The proposed system consists of three parts. First, the proposed system detects the occurrence of loop closing to confirm that users acquired the information from all directions. Thereafter, the acquired map is divided with regular intervals and is verified whether each area has enough map points to successfully estimate users' position. Finally, to check the effectiveness of each map point, the system checks whether the map points are identifiable even at the location where there is a large distance difference from the acquisition position. Experimental results show that space maps whose completeness is proven by the proposed system has higher stability and accuracy in terms of position estimation than other maps that are not proven.

• Journal of the Semiconductor & Display Technology
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• v.21 no.3
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• pp.87-91
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• 2022

Bokeh effect is a stylistic technique that can produce blurring the background of photos. This paper implements to produce a bokeh effect with a single image by post processing. Generating depth map is a key process of bokeh effect, and depth map is an image that contains information relating to the distance of the surfaces of scene objects from a viewpoint. First, this work presents algorithms to determine the depth map from a single input image. Then, we obtain a sparse defocus map with gradient ratio from input image and blurred image. Defocus map is obtained by propagating threshold values from edges using matting Laplacian. Finally, we obtain the blurred image on foreground and background segmentation with bokeh effect achieved. With the experimental results, an efficient image processing method with bokeh effect applied using a single image is presented.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.5
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• pp.422-428
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• 2013

Recently, many unmanned aerial vehicle (UAV) studies have focused on small UAVs, because they are cost effective and suitable in dangerous indoor environments where human entry is limited. Map building through distance measurement is a key technology for the autonomous flight of small UAVs. In many researches for unmanned systems, distance could be measured by using laser range finders or stereo vision sensors. Even though a laser range finder provides accurate distance measurements, it has a disadvantage of high cost. Calculating the distance using a stereo vision sensor is straightforward. However, the sensor is large and heavy, which is not suitable for small UAVs with limited payload. This paper suggests a low-cost distance measurement system using a laser pointer and a monocular vision sensor. A method to measure distance using the suggested system is explained and some experiments on map building are conducted with these distance measurements. The experimental results are compared to the actual data and the reliability of the suggested system is verified.

• Journal of the Korea Society for Simulation
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• v.16 no.3
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• pp.57-63
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• 2007

In real time rendering of fetus the empty space leaping while traversing a ray is most frequently used accelerating technique. The main idea is to skip empty voxel samples which do not contribute the result image and it speeds up the rendering time by avoiding sampling data while traversing a ray in the empty region, saving a substantial number of interpolations. Calculating the distance from the nearest object boundary for every yokel can reduce the sampling operation. Among widely-well-known distance maps, those estimates the true distance, such as euclidean distance, takes a long time to compute because of the complicated floating-point operations, and others which uses approximated distance functions, such as city-block and chessboard, provides faster computation time but sampling error may can occur. In this paper, therefore, we analyze the characteristics of several distance maps and compare the number of samples and rendering time. And we aim to suggest the most appropriate distance map for rendering of fetus in ultrasound image.

• Journal of KIISE:Software and Applications
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• v.32 no.1
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• pp.41-49
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• 2005

In this Paper, we Propose an automatic lung registration technique using local distance propagation for correcting the difference between two temporal images by a patient's movement in abdomen CT image obtained from the same patient to be taken at different time. The proposed method is composed of three steps. First, lung boundaries of two temporal volumes are extracted, and optimal bounding volumes including a lung are initially registered. Second, 3D distance map is generated from lung boundaries in the initially taken volume data by local distance propagation. Third, two images are registered where the distance between two surfaces is minimized by selective distance measure. In the experiment, we evaluate a speed and robustness using three patients' data by comparing chamfer-matching registration. Our proposed method shows that two volumes can be registered at optimal location rapidly. and robustly using selective distance measure on locally propagated 3D distance map.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.27 no.1
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• pp.117-123
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• 2023

There are casualties due to inundation and flooding due to intensive typhoons or heavy rains in summer. Due to such damage, the biggest disaster is flood, and in order to reduce human damage, this paper proposes a shortest distance algorithm-based pedestrian path search study using Map API. This system selects Map API through comparative analysis and provides the shortest route. The route explored is in JSON format and the data of the shelter is stored in the database. The route search system designed and implemented based on this data locates pedestrians and provides evacuation routes in case of flash floods. In addition, if the route cannot be entered while moving to the evacuation route, the current location of the pedestrian is identified, the route is re-searched, and a new route is provided. Therefore, it is believed that the pedestrian route search system proposed in this paper will prevent negligent accidents.

• ETRI Journal
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• v.44 no.1
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• pp.51-61
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• 2022

In this paper, we introduced a novel voxel-wise UV parameterization and view-dependent texture synthesis for the immersive rendering of a truncated signed distance field (TSDF) scene model. The proposed UV parameterization delegates a precomputed UV map to each voxel using the UV map lookup table and consequently, enabling efficient and high-quality texture mapping without a complex process. By leveraging the convenient UV parameterization, our view-dependent texture synthesis method extracts a set of local texture maps for each voxel from the multiview color images and separates them into a single view-independent diffuse map and a set of weight coefficients for an orthogonal specular map basis. Furthermore, the view-dependent specular maps for an arbitrary view are estimated by combining the specular weights of each source view using the location of the arbitrary and source viewpoints to generate the view-dependent textures for arbitrary views. The experimental results demonstrate that the proposed method effectively synthesizes texture for an arbitrary view, thereby enabling the visualization of view-dependent effects, such as specularity and mirror reflection.

• 한국정보통신설비학회:학술대회논문집
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• 2007.08a
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• pp.323-326
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• 2007

Mobility Anchor Points are used for the mobility management in HMIPv6 networks. Currently a mobile node selects the MAP farthest away from itself as a new MAP among available candidates when it undertakes a macro handoff. With this technique, however, the traffic tends to be concentrated at a MAP with the largest domain size and the communication cost increases due to the distance between the mobile node and the MAP. In this work, we proposed a cost effective MAP selection scheme. When leaving the current MAP domain. the mobile node calculates the optimum MAP domain size to minimize the local mobility cost at the new MAP domain considering mobile node's velocity and packet transmission rate. The mobile node then selects a MAP domain of size close to the optimum domain size calculated among the candidate MAP domains. In this way, it is possible for the mobile node to select an optimal MAP adaptively taking the network and node states into account, thus reducing the communication cost.

• Journal of the Ergonomics Society of Korea
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• v.36 no.4
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• pp.343-353
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• 2017

Objective: This study aims to evaluate the efficiency of two representative subway map design types, namely a diagram type and a geographical type using physiological metrics, performance metrics, and self-reported metrics, which are representative usability metrics. Background: Subway maps need to be designed in order for users to quickly search and recognize subway line information. Although most cities' subway maps currently use the diagram type designed by Henry Beck, New York City's subway map has recently been changed to the subway map type combined with the geographical type designed by Michael Hertz. However, not many studies on its efficiency are found, and the studies that are available mainly depend on questionnaire surveys or take on a subjective behavioral study type based on experts' experiences. In this regard, evaluation through a more objective method is needed. Method: This study employed usability metrics as a method to evaluate the efficiency of information search targeting the diagram type and geographical type subway maps used mostly as subway maps. To this end, physiological metrics obtained through eye tracking, task completion time, representative metric of task performance, and subjective evaluation metrics were used for the suitability evaluation of subway map designs. Results: In the result of gaze movement distance analysis, no significant difference was shown in the two design types in terms of a process finding a departure station from the starting point and a process finding a transfer station between the departure station and arrival station (destination). However, the gaze movement distance in the process finding the arrival station at the departure station was significantly shorter in the geographical type, rather than in the diagram type. The analysis of task completion time showed a result similar to the gaze movement distance analysis result. Task completion time was significantly shorter in the geographical type, rather than in the diagram type, which is in the process finding the arrival station at the departure station. In other information search processes, no significant difference was shown. As a result of subjective evaluation metrics analysis, no significant difference was revealed in the two design types. Conclusion: An analysis on the two representative subway map design types was carried out via the adoption of usability metrics. As a result, although no significant difference was shown in some information search processes, it was revealed that information search was easier in the geographical type overall. Also, it was found that usability metrics can be effectively used to evaluate the design types of subway maps. Application: The study results can be used to set design direction to offer ease in information search on subway lines. The study also can be used as a method to evaluate a subway map's design type.