• Journal of Broadcast Engineering
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• v.17 no.5
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• pp.838-850
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• 2012

In this paper, we propose a novel algorithm that generates multi-view images by using various image features obtained from the given stereoscopic images. In the proposed algorithm, we first create an intensity gradient saliency map from the given stereo images. And then we calculate a block-based optical flow that represents the relative movement(disparity) of each block with certain size between left and right images. And we also obtain the disparities of feature points that are extracted by SIFT(scale-invariant We then create a disparity saliency map by combining these extracted disparity features. Disparity saliency map is refined through the occlusion detection and removal of false disparities. Thirdly, we extract straight line segments in order to minimize the distortion of straight lines during the image warping. Finally, we generate multi-view images by grid mesh-based image warping algorithm. Extracted image features are used as constraints during grid mesh-based image warping. The experimental results show that the proposed algorithm performs better than the conventional DIBR algorithm in terms of visual quality.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.901-905
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• 2005

Monte Carlo localization is known to be one of the most reliable methods for pose estimation of a mobile robot. Much research has been done to improve performance of MCL so far. Although MCL is capable of estimating the robot pose even for a completely unknown initial pose in the known environment, it takes considerable time to give an initial estimate because the number of random samples is usually very large especially for a large-scale environment. For practical implementation of the MCL, therefore, a reduction in sample size is desirable. This paper presents a novel approach to reducing the number of samples used in the particle filter for efficient implementation of MCL. To this end, the topological information generated off- line using a thinning method, which is commonly used in image processing, is employed. The topological map is first created from the given grid map for the environment. The robot scans the local environment using a laser rangefinder and generates a local topological map. The robot then navigates only on this local topological edge, which is likely to be the same as the one obtained off- line from the given grid map. Random samples are drawn near the off-line topological edge instead of being taken with uniform distribution, since the robot traverses along the edge. In this way, the sample size required for MCL can be drastically reduced, thus leading to reduced initial operation time. Experimental results using the proposed method show that the number of samples can be reduced considerably, and the time required for robot pose estimation can also be substantially decreased.

• Journal of KIISE
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• v.43 no.1
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• pp.40-46
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• 2016

Digital road map generation is primarily based on artificial satellite photographing or in-site manual survey work. Therefore, these map generation procedures require a lot of time and a large budget to create and update road maps. Consequently, people have tried to develop automated map generation systems using GPS trajectory data sets obtained by public vehicles. A fundamental problem in this road generation procedure involves the extraction of representative trajectory such as main roads. Extracting a representative trajectory requires the base data set of piecewise line segments(GPS-trajectories), which have close starting and ending points. So, geometrically similar trajectories are selected for clustering before extracting one representative trajectory from among them. This paper proposes a new divide- and-conquer approach by partitioning the whole map region into regular grid sub-spaces. We then try to find similar trajectories by sweeping. Also, we applied the $Fr{\acute{e}}chet$ distance measure to compute the similarity between a pair of trajectories. We conducted experiments using a set of real GPS data with more than 500 vehicle trajectories obtained from Gangnam-gu, Seoul. The experiment shows that our grid partitioning approach is fast and stable and can be used in real applications for vehicle trajectory clustering.

• Journal of Korea Water Resources Association
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• v.33 no.1
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• pp.61-72
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• 2000

The purpose of this study is to improve the method of evaluating groundwater recharge by using grid-based soil moisture routing technique. A model which predicts temporal variation and spatial distribution of soil moisture on a daily time step was developed. The model uses ASCII-formatted map data supported by the irregular gridded map of the GRASS(Geographic Resources Analysis Support System)-GIS and can generate daily and monthly spatial distribution map of surface runoff, soil moisture content, evapotranspiration within the watershed. The model was applied to Ipyunggyo watershed($75.6\;\textrm{km}^2$) located in the upstream of Bocheongchun watershed. Seven maps; DEM(Digital Elevation Mode]), stream, flow path, soil, land use, Thiessen network and free groundwater level, were used for input data. Predicted streamflows resulting from two years (l995, 1996) daily data were compared with the observed values at the watershed outlet. The results of temporal variations and spatial distributions of soil moisture are presented by using GRASS GIS. As a final result, the monthly predicted groundwater recharge was presented.sented.

• Nuclear Engineering and Technology
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• v.55 no.8
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• pp.3030-3038
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• 2023

Nowadays, mobile robots have been used to search for uncontrolled radioactive source in indoor environments to avoid radiation exposure for technicians. However, in the indoor environments, especially in the presence of obstacles, how to make the robots with limited sensing capabilities automatically search for the radioactive source remains a major challenge. Also, the source search efficiency of robots needs to be further improved to meet practical scenarios such as limited exploration time. This paper proposes an automatic source search strategy, abbreviated as ACA: the location of source is estimated by a convolutional neural network (CNN), and the path is planned by the A-star algorithm. First, the search area is represented as an occupancy grid map. Then, the radiation dose distribution of the radioactive source in the occupancy grid map is obtained by Monte Carlo (MC) method simulation, and multiple sets of radiation data are collected through the eight neighborhood self-avoiding random walk (ENSAW) algorithm as the radiation data set. Further, the radiation data set is fed into the designed CNN architecture to train the network model in advance. When the searcher enters the search area where the radioactive source exists, the location of source is estimated by the network model and the search path is planned by the A-star algorithm, and this process is iterated continuously until the searcher reaches the location of radioactive source. The experimental results show that the average number of radiometric measurements and the average number of moving steps of the ACA algorithm are only 2.1% and 33.2% of those of the gradient search (GS) algorithm in the indoor environment without obstacles. In the indoor environment shielded by concrete walls, the GS algorithm fails to search for the source, while the ACA algorithm successfully searches for the source with fewer moving steps and sparse radiometric data.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.822-827
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• 2003

Topological maps have drawn more attention recently because they are compact, provide natural interfaces, and are applicable to path planning easily. To build a topological map incrementally, Voronoi diagram was used by many researchers. The Voronoi diagram, however, has difficulty in applying to arbitrarily shaped objects and needs long computation time. In this paper, we present a new method for global topological map from the local topological maps incrementally. The local topological maps are created through a thinning algorithm from a local grid map, which is built based on the sensor information at the current robot position. A thinning method requires simpler computation than the Voronoi diagram. Localization based on the topological map is usually difficult, but additional nodes created by the thinning method can improve localization performance. A series of experiments have been conducted using a two-wheeled mobile robot equipped with a laser scanner. It is shown that the proposed scheme can create satisfactory topological maps.

• The Journal of Korea Robotics Society
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• v.13 no.2
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• pp.79-85
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• 2018

This study focuses on autonomous exploration based on map expansion for an underwater robot equipped with acoustic sonars. Map expansion is applicable to large-area mapping, but it may affect localization accuracy. Thus, as the key contribution of this paper, we propose a method for underwater autonomous exploration wherein the robot determines the trade-off between map expansion ratio and position accuracy, selects which of the two has higher priority, and then moves to a mission step. An occupancy grid map is synthesized by utilizing the measurements of an acoustic range sonar that determines the probability of occupancy. This information is then used to determine a path to the frontier, which becomes the new search point. During area searching and map building, the robot revisits artificial landmarks to improve its position accuracy as based on imaging sonar-based recognition and EKF-SLAM if the position accuracy is above the predetermined threshold. Additionally, real-time experiments were conducted by using an underwater robot, yShark, to validate the proposed method, and the analysis of the results is discussed herein.

• Atmosphere
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• v.21 no.4
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• pp.471-480
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• 2011

This study investigates the characteristics of surface wind in North Korea using mesoscale model WRF. Hourly wind fields were simulated for one year representing mean characteristics of an 11-years period from 1998 to 2008. The simulations were performed on a nested grid from 27 km to 1 km horizontal resolution. The simulated wind map at 10 m above ground level is verified with 27 surface observations. Statistical verification skill score indicates that wind speed tends to overestimate in surface layer. The average RMSE value of the simulated wind speed is around $2.8ms^{-1}$. Wind map in North Korea showed that strong wind speed is distributed in the mountainous and western coastal region. The results of this wind mapping study contribute for the founding of wind energy potential location.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2000.04a
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• pp.389-392
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• 2000

Gouge-free tool-path generation is an important issue in mold & die machining and researches on cutter interference avoidance can be found in many articles. One of the various methods is construction of tool-offlet surface or cutter-location (CL) surface on which the cutter-center point (CL-point) locates. Provided that the CL surface is represented in a suitable form, cutter-interference avoidance can be performed without the burden of computing CL data for every cutter-contact (CC) point. In the paper, various methods of constructing a CL surface in the z-map form are presented, where z-map is a special form of discrete nonparametric representation in which the height values at grid points on the xy-plane are stored as a 2D array z［i,j］.

• Journal of Korea Spatial Information System Society
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• v.1 no.1 s.1
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• pp.49-55
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• 1999

Extracting information of maps is necessary to establish the GIS. In this paper, a house recognition method on the scanned topographic map is described. A contour detection method is used to extract houses from the scanned maps and RLE (run-length encoding) method is used for manipulating houses touching grid lines. To handle houses touched to roads and borderlines, morphological operation is used. To remove misrecognition occurred by morphological operation, the legions which contain characters on the map are also automatically eliminated.