• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.700-710
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• 2009

A computer vision technique of estimating the location of an unmanned ground vehicle is proposed. Identifying the location of the unmaned vehicle is very important task for automatic navigation of the vehicle. Conventional positioning sensors may fail to work properly in some real situations due to internal and external interferences. Given a DSM(Digital Surface Map), location of the vehicle can be estimated by the registration of the DSM and multiview range images obtained at the vehicle. Registration of the DSM and range images yields the 3D transformation from the coordinates of the range sensor to the reference coordinates of the DSM. To estimate the vehicle position, we first register a range image to the DSM coarsely and then refine the result. For coarse registration, we employ a fast random sample matching method. After the initial position is estimated and refined, all subsequent range images are registered by applying a pair-wise registration technique between range images. To reduce the accumulation error of pair-wise registration, we periodically refine the registration between range images and the DSM. Virtual environment is established to perform several experiments using a virtual vehicle. Range images are created based on the DSM by modeling a real 3D sensor. The vehicle moves along three different path while acquiring range images. Experimental results show that registration error is about under 1.3m in average.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.373-376
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• 2006

In general, a method for generating irregular wave by combination of component waves obtained from linear wave theory is widely used. In these method, however, mean water surface elevation is rising from time to time because of nonlinear effect of wave. In this study, for the rising problem of mean water surface elevation and stabilization of calculation from time to time, mass transport velocity for horizontal velocity at wave source position is considered. The rising problem of mean water surface elevation is checked by comparing calculated wave profile from numerical technique proposed in this study with target wave profile at wave source position in numerical wave tank by using CADMAS-SURF code. And, by generating irregular wave, the validity of wave overtopping rate estimated from this numerical analysis is discussed by comparing computed results with measured results in hydraulic model experiments for vertical seawall located on a sloping sea bottom. As a results, the computations are validated against the previously experimental results by hydraulic model test and numerical results of this study and a good agreement is observed. Therefore, numerical technique of this study is a powerful tool for estimating wave overtopping rate over the crest of coastal structure.

• Journal of Digital Convergence
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• v.12 no.3
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• pp.243-248
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• 2014

Recently, solar energy is expanding to combination of computing in real time by tracking the position of the sun to estimate the angle of inclination and make up freshly correcting a part of the solar radiation. Solar power is need that reliably linked technology to power generation system renewable energy in order to efficient power production that is difficult to output predict based on the position of the sun rise. In this paper, we analysis of prediction model for solar power generation to estimate the predictive value of solar power generation in the development of real-time weather data. Photovoltaic power generation input the correction factor such as temperature, module characteristics by the solar generator module and the location of the local angle of inclination to analyze the predictive power generation algorithm for the prediction calculation to predict the final generation. In addition, the proposed model in real-time national weather service forecast for medium-term and real-time observations used as input data to perform the short-term prediction models.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.10
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• pp.2586-2592
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• 2014

Lost fishing gears become a major cause of marine pollution, and many policy and technical efforts have been conducted for that. For efficient retrieving lost fishing gears in underwater, It is important to know the current position. Using GPS in the sub-sea environment is impossible and localization requires the use of special systems, and mobility due to water currents for underwater localization also has to be considered. In this paper, described with respect to the system for a self-generated location informations without using an external signal, such as a GPS and Sonar and storing them. Using the characteristics of the geomagnetic and INS principle, proposed informations and a way for estimating self position during movement. Embedded based system suggested and implemented in this study is tested for validating it's functionality.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.5
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• pp.1070-1075
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• 2013

In this research, we describe a security robot system and ongoing research results to control human's wrong direction in order to forbid human to enter security zone. Proposed robot system surveils a security area with equipped laserscanner sensor usually. When it detect walking human who is for the area, robot calculates his velocity vector, plans own path to forestall and interrupts him who want to head restricted area and starts to move along the estimated trajectory. The walking human is assumed to be a point-object and projected onto an scanning plane to form a geometrical constraint equation that provides position data of the human based on the kinematics of the mobile robot. While moving the robot continues these processes for adapting change of situation. After arriving at an opposite position human's walking direction, the robot advises him not to be headed more and change his course. The experimental results of estimating and tracking of the human in the wrong direction with the mobile robot are presented.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.12
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• pp.1445-1452
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• 2013

In this paper, we propose a real-time algorithm for estimating the relative position of a person with respect to a robot (camera) using a monocular camera. The algorithm detects the head and shoulder regions of a person using HOG (Histogram of Oriented Gradient) feature vectors and an SVM (Support Vector Machine) classifier. The size and location of the detected area are used for calculating the relative distance and angle between the person and the camera on a robot. To increase the speed of the algorithm, we use a GPU and NVIDIA's CUDA library; the resulting algorithm speed is ~ 15 Hz. The accuracy of the algorithm is compared with the output of a SICK laser scanner.

• The Journal of Korean Institute of Information Technology
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• v.16 no.11
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• pp.35-41
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• 2018

Electrical impedance tomography (EIT) is a kind of nondestructive testing technique that obtains the internal resistivity distribution from the voltages measured at the electrodes located outside the area of interest. However, an image reconstruction problem in EIT has innate non-linearity and ill-posedness, so that it is difficult to obtain satisfactory reconstructed results. In general, a neural network can efficiently model the input and output relationships of a non-linear system. This paper proposes a method for estimating the position and size of a circular target using a multi-layer neural network. To verify the performance of the proposed method, neural network was trained and various computer simulations were performed and satisfactory performance was verified.

• Korean Journal of Optics and Photonics
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• v.33 no.6
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• pp.252-259
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• 2022

We have conducted a study to control the light-intensity distribution at the output end of a multimode optical fiber via estimating the transmission matrix. A circularly arranged Hadamard eigenmode phase distribution was implemented using a spatial light modulator, and the transmission matrix of a multimode optical fiber was experimentally obtained using a four-phase method. Based on the derived transmission matrix, the spatial phase distribution of light incident upon the optical fiber was adjusted via the spatial light modulator in advance, to focus the light at a desired position at the optical fiber output. The light could be focused with an intensity up to 359.6 times as high as that of the surrounding background signal at a specific position of the multimode fiber's output end, and the intensity of the focused beam was on average 104.6 times as large as that of the background signal, across the area of the multimode fiber's core.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.23 no.12
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• pp.1492-1499
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• 2019

This paper propose how to track the position of the observer to control the viewing zone using an adaptive parallax barrier. The pose is estimated using a Constrained Local Model based on the shape model and Landmark for robust eye-distance measurement in the face pose. Camera's correlation converts distance and horizontal location to centimeter. The pixel pitch of the adaptive parallax barrier is adjusted according to the position of the observer's eyes, and the barrier is moved to adjust the viewing area. This paper propose a method for tracking the observer in the range of 60cm to 490cm, and measure the error, measurable range, and fps according to the resolution of the camera image. As a result, the observer can be measured within the absolute error range of 3.1642cm on average, and it was able to measure about 278cm at 320×240, about 488cm at 640×480, and about 493cm at 1280×960 depending on the resolution of the image.

• Journal of Advanced Navigation Technology
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• v.26 no.2
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• pp.78-84
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• 2022

In this paper, we propose a closed-form based 3D localization method in the presence of multiple signal sources. General localization methods such as TDOA, AOA, and FDOA can estimate a location when a single signal source exists. When there are multiple unknown signal sources, there is a limit in estimating the location. The proposed method calculates a cross-correlation vector of signals received by sensors having an array antenna, and estimates TDOA and AOA values from the cross-correlation values. Then, the coordinate transformation is performed using the position of the reference sensor. Then, the coordinate rotation is performed using the estimated AOA value for the transformed coordinates, and then the three-dimensional position of each emitter is estimated. The proposed method verifies its performance through computer simulation.