• Journal of Advanced Navigation Technology
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• v.10 no.4
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• pp.400-405
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• 2006

In this paper, we propose a moving object tracking algorithm by using motion estimation in UAV(Unmanned Aerial Vehicle) video. Proposed algorithm is based on generation of initial image from detected reference image, and tracking of moving object under the time-varying image. With a series of this procedure, tracking process is stable even when the UAV camera sways by correcting position of moving object, and tracking time is relatively reduced. A block matching algorithm is also utilized to determine the similarity between reference image and moving object. An experimental result shows that our proposed algorithm is better than the existing full search algorithm.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2006.10a
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• pp.71-78
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• 2006

The image of an object obtained by the radar is not corresponding to its true shape, because the image of an object observed by the radar is receiving an influence such as multiple-reflections and expanded in bearing because of the beam width of a radar. In addition, a radio wave does not hit the entire surface of an object. Therefore, the image of the front side of a ship facing a radar antenna corresponds to its true shape. In this paper, a method to estimate a ship's shape by means of the integration of the front parts of images obtained from radars is proposed. In addition, a matter, which is observation error of each radar, in using multi-radars, and the process included in the proposed method for solving the matter, are described. As a result of the experiment, the accuracy of about 3 degrees in ship's heading and about 14 meters in length and about 9 meters in beam was obtained.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2023.05a
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• pp.40-41
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• 2023

This paper introduces the design of detection, recognition, and tracking algorithms for VTS radar image-based objects. The detection of objects in radar images utilizes artificial intelligence technology to determine the presence or absence of objects, and can classify the type of object using AI technology. Tracking involves the continuous tracking of detected objects over time, including technology to prevent confusion in the movement path. In particular, for land-based radar, there are unnecessary areas for detection depending on the terrain, so the function of detecting and recognizing vessels within the region of interest (ROI) set in the radar image is included. In addition, the extracted coordinate information is designed to enable various applications and interpretations by calculating speed, direction, etc.

• Journal of Game and Entertainment
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• v.2 no.1
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• pp.35-44
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• 2006

Objective of this study is to develop a 3D car navigation system that shows the driving direction to a destination through real-time 3-D panoramic views of the route. For the purpose, a new searching process was established to find the optimal driving direction based on the driver's current location and the real-time traffic situation and the TIP (tour into the picture) method was extended to implement a wide virtual environment. A virtual environment was built up by applying the extended TIP method to the panoramic images taken at a constant distance from a real road, and then, displayed 3-D navigation as clear as the real images. The car navigation system developed in this study provides the optimal driving direction and real-time traffic situation using 2-D navigation module and 3D navigation module.

• Journal of Advanced Navigation Technology
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• v.13 no.3
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• pp.459-465
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• 2009

Digital watermarking is a technique to insert a visually imperceptible information into an image so that the information can be extracted for the purposes of ownership verification or authentication. And watermarking techniques can be classified as either fragile or robust. Robust watermarks are useful for copyright and ownership assertion purposes. They cannot be easily removed and should resist common image manipulation procedures such as rotation, scaling, cropping, etc. On the other hand, fragile watermarks are easily corrupted by any image processing procedure, it can detect any change to an image as well as localizing the areas that have been changed. In this paper, we propose a fragile watermarking algorithm using a special hierarchical structure for integrity verification of image and detection of manipulated location. In the proposed method, the image to be watermarked is divided into blocks in a multi-level hierarchy and calculating block digital signatures in this hierarchy. The proposed method thwarts the cut-and-paste attack and the experimental results to demonstrate the effectiveness of the proposed method.

• Journal of the Korean Institute of Navigation
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• v.16 no.1
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• pp.77-91
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• 1992

How does the youth feel the sea affairs\ulcorner Concerning this question, this paper aims to measure the images of the youth toward the sea affairs - the sea, the ship and the seafarer and to examined the above subject. As sample 3, 250 students of middle and high school were selected by considering geographical environment. The data obtained using Semantic Differential Method were analyzed by principal component analysis, and the obtained factor scores were examined the significance of difference between sex, age and geographical environment. By introducing the principal component analysis, the authors extracted from each of the images, that is, factors of dynamics and affection to the image on these a and the former the factors and pleasure on the ship, and also the former two factors and factor of professional evaluation on the seafarer, The following results are obtained. 1) In the image of the sea, dynamic image of the student in high school were higher than the of the student in middle school in spite of geographic environment and affective image were opposite. 2) In the images of the ship, affective image of the student in middle school and high school in inland were high than the of the male and female student in near the sea. And also, male female students in middle school and male student s in high school of inland showed the highest score to the pleasure image. 3) In the image of the seafare, professional evaluation of the female student in middle school were higher than the others, but the students in high school showed the highest score to dynamic image. Especially, in the case of the majority of students in high school living in the city or town near the, their images of the seafarer were not so good in spite of their explorative experiences about the sea affairs.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.6
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• pp.401-410
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• 2020

In this study, a real-time Tactical UAS position compensation system based on image information developed to compensate for the weakness of location navigation information during GPS signal interference and jamming / spoofing attack is described. The Tactical UAS (KUS-FT) is capable of automatic flight by switching the mode from GPS/INS integrated navigation to DR/AHRS when GPS signal is lost. However, in the case of location navigation, errors accumulate over time due to dead reckoning (DR) using airspeed and azimuth which causes problems such as UAS positioning and data link antenna tracking. To minimize the accumulation of position error, based on the target data of specific region through image sensor, we developed a system that calculates the position using the UAS attitude, EO/IR (Electric Optic/Infra-Red) azimuth and elevation and numerical map data and corrects the calculated position in real-time. In addition, function and performance of the image information based real-time UAS position compensation system has been verified by ground test using GPS simulator and flight test in DR mode.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.716-721
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• 1990

It is one of the essential task to determine the absolute location of mobile robot during its navigation. In this paper we propose an algorithm to calculate the distance and orientation of camera from landmark through the visual image of stripe typed landmark. Exact closed form solution of camera location is obtained with the correspondences from vertical line on mark plane to the intersection point of projected line with horizontal axis of image plane. It needs only one line image information, so that location determination can be processed in real time.

• Journal of Advanced Navigation Technology
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• v.16 no.6
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• pp.910-919
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• 2012

In this paper, we described development of on-board image processing system and its process and verified its performance through flight experiment. The image processing board has single ARM(Advanced Risk Machine) processor. We performed Embedded Linux Porting. Algorithm to be applied for object tracking is color-based image processing algorithm, it can be designed to track the object that has specific color on ground in real-time. To verify performance of the on-board image processing system, we performed flight test using the PNUAV, UAV developed by LAB. Also, we performed optimization of the image processing algorithm and kernel to improve real-time performance. Finally we confirmed that proposed system can track the blue-color object within four pixels error range consistently in the experiment.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.5
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• pp.610-616
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• 2012

In this paper, we present a method to detect an object such as ship, rock and buoy from sea IR image for the safety navigation. To this end, we do the image smoothing first and the apply watershed algorithm to segment image into subregions. Since watershed algorithm almost always produces over-segmented regions, it requires posterior merging process to get meaningful segmented regions. We propose an efficient merger algorithm that requires only two times of direct access to the pixels regardless of the number of regions. Also by analyzing IR image obtained from sea environments, we could find out that most horizontal edge come out from object regions. For the given input IR image we extract horizontal edge and eliminate isolated edges produced from background and noises by adopting morphological operator. Among the segmented regions, the regions that have horizontal edges are extracted as final results. Experimental results show the adequacy of the proposed method.