• Journal of the Korean Society for Aeronautical & Space Sciences
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• 제46권6호
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• pp.479-486
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• 2018

In order to ensure reliable navigation performance of a lunar exploration rover, navigation algorithms using additional sensors such as inertial measurement units and cameras are essential on lunar surface in the absence of a global navigation satellite system. Unprecedentedly, Visual Odometry (VO) using a stereo camera has been successfully implemented at the US Mars rovers. In this paper, we estimate the 6-DOF pose of the lunar exploration rover from gray images of a lunar-like terrains. The proposed algorithm estimates relative pose of consecutive images by sparse image alignment based semi-direct VO. In order to overcome vulnerability to non-linearity of direct VO, we add adaptive motion prior weights calculated from a linear function of the previous pose to the optimization cost function. The proposed algorithm is verified in lunar-like terrain dataset recorded by Toronto University reflecting the characteristics of the actual lunar environment.

• Journal of the Korea Academia-Industrial cooperation Society
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• 제15권9호
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• pp.5446-5451
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• 2014

Because there are some mistakes by hand in processing electronic maps using a navigation terminal, this paper proposes an automatic offline recognition for traffic signs, which are considered ingredient navigation information. Principal Component Analysis (PCA) and Linear Discriminant Analysis (LDA), which have been used widely in the field of 2D face recognition as computer vision and pattern recognition applications, was used to recognize traffic signs. First, using PCA, a high-dimensional 2D image data was projected to a low-dimensional feature vector. The LDA maximized the between scatter matrix and minimized the within scatter matrix using the low-dimensional feature vector obtained from PCA. The extracted traffic signs under a real-world road environment were recognized successfully with a 92.3% recognition rate using the 40 feature vectors created by the proposed algorithm.

• Journal of Positioning, Navigation, and Timing
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• 제7권1호
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• pp.37-42
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• 2018

This paper proposed a microstrip antenna that can perform jamming of satellite signals from the GPS L5, GLONASS G3, BDS B2 frequency bands (1164 - 1217 MHz) that are employed mainly for military purposes among the GNSS frequencies using unmanned aircrafts over the enemy's sky in time of emergency. The single element in the proposed antenna can be easily mounted to unmanned aircrafts. This study analyzed the characteristics of miniaturization and beam of radiating elements by applying the image theories and perturbation effect to satisfy the uniform level at ${\pm}45^{\circ}$ of beam steering goal due to the phase delay after antenna array. The designed microstrip antenna had a miniaturized radiating element area (x-y plane), which was reduced by 76.3% compared to that of basic microstrip antenna, and its beam width was $190^{\circ}$ in the E-plane and $140^{\circ}$ in the H plane. In addition, the simulation was conducted to determine the characteristics due to the phase delay by arranging the designed single microstrip antenna by $1{\times}4$ array and the results showed that beam steering of ${\pm}45^{\circ}$ is possible in the H-plane on the basis of $0^{\circ}$. Thus, the proposed antenna was verified to be effective in satellite signal jamming in the air as it was attached to the lower end of unmanned aircrafts.

• Journal of Navigation and Port Research
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• 제37권5호
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• pp.447-452
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• 2013

Vessel traffic system uses multiple sea surveillance radars as a primary sensor to obtain maritime traffic information like as ship's position, speed, course. The systematic errors such as the range bias and the azimuth bias of the two-dimensional radar system can significantly degrade the accuracy of the radar image and target tracking information. Therefore, the systematic errors of the radar system should be corrected precisely in order to provide the accurate target information in the vessel traffic system. In this paper, it is proposed that the method compensates the range bias and the azimuth bias using AtoN information installed at VTS coverage. The radar measurement residual error model is derived from the standard error model of two-dimensional radar measurements and the position information of AtoN, and then the linear Kalman filter is designed for estimation of the systematic errors of the radar system. The proposed method is validated via Monte-Carlo runs. Also, the convergence characteristics of the designed filter and the accuracy of the systematic error estimates according to the number of AtoN information are analyzed.

• Journal of the Institute of Electronics Engineers of Korea CI
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• 제46권2호
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• pp.75-83
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• 2009

This paper presents a new mobile robot localization method for indoor robot navigation. The method uses color-coded landmarks on the ceiling and a camera is installed on the robot facing the ceiling. The proposed "cell-coded map", with the use of only nine different kinds of color-coded landmarks distributed in a particular way, helps reduce the complexity of the landmark structure. This technique is applicable for navigation in an unlimited size of indoor space. The structure of the landmarks and the recognition method are introduced. And 2 rigid rules are also used to ensure the correctness of the recognition. Experimental results prove that the method is useful.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• 제37권3호
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• pp.101-108
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• 2019

Due to recent improvements in computer processing speed and image processing technology, researches are being actively carried out to combine information from camera with existing GNSS (Global Navigation Satellite System) and dead reckoning. In this study, developed a vision-based positioning assistant algorithm to estimate the distance to the object from stereo images. In addition, GNSS/on-board vehicle sensor/vision based positioning algorithm is developed by combining vision based positioning algorithm with existing positioning algorithm. For the performance analysis, the velocity calculated from the actual driving test was used for the navigation solution correction, simulation tests were performed to analyse the effects of velocity precision. As a result of analysis, it is confirmed that about 4% of position accuracy is improved when vision information is added compared to existing GNSS/on-board based positioning algorithm.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제16권2호
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• pp.692-712
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• 2022

Buoys used for Aid to Navigation systems are widely used to guide the sea paths and are powered by batteries, requiring continuous battery replacement. However, since human labor is required to replace the batteries, humans can be exposed to dangerous situation, including even collision with shipping vessels. In addition, Maritime sensors are installed on the route signs, so that these are often damaged by collisions with small and medium-sized ships, resulting in significant financial loss. In order to prevent these accidents, maritime object detection technology is essential to alert ships approaching buoys. Existing studies apply a number of filters to eliminate noise and to detect objects within the sea image. For this process, most studies directly access the pixels and process the images. However, this approach typically takes a long time to process because of its complexity and the requirements of significant amounts of computational power. In an emergent situation, it is important to alarm the vessel's rapid approach to buoys in real time to avoid collisions between vessels and route signs, therefore minimizing computation and speeding up processes are critical operations. Therefore, we propose Fast Connected Component Labeling (FCCL) which can reduce computation to minimize the processing time of filter applications, while maintaining the detection performance of existing methods. The results show that the detection performance of the FCCL is close to 30 FPS - approximately 2-5 times faster, when compared to the existing methods - while the average throughput is the same as existing methods.

• Korean Journal of Remote Sensing
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• 제38권6_1호
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• pp.1015-1023
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• 2022

The Entry-Descent-Landing process of a lander involves many environmental and technical challenges. To solve these problems, recently, terrestrial relative navigation (TRN) technology has been essential for landers. TRN is a technology for estimating the position and attitude of a lander by comparing Inertial Measurement Unit (IMU) data and image data collected from a descending lander with pre-built reference data. In this paper, we present a method for generating descent dataset and extracting landmarks, which are key elements for developing TRN technologies to be used on Mars. The proposed method generates IMU data of a descending lander using a simulated Mars landing trajectory and generates descent images from high-resolution ortho-map and digital elevation map through a ray tracing technique. Landmark extraction is performed by an area-based extraction method due to the low-textured surfaces on Mars. In addition, search area reduction is carried out to improve matching accuracy and speed. The performance evaluation result for the descent dataset generation method showed that the proposed method can generate images that satisfy the imaging geometry. The performance evaluation result for the landmark extraction method showed that the proposed method ensures several meters of positioning accuracy while ensuring processing speed as fast as the feature-based methods.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 한국항해항만학회 2010년도 춘계학술대회
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• pp.135-138
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• 2010

IMO adopt the revision of SOLAS convention on requirement systems for ECDIS and considered an ECDIS as the major system for E-Navigation strategy on marine transportation safety and environment protection. ENC(Electronic Navigational Chart) as base map of ECDIS is considered as a principal information infrastructure that is essential for navigation tasks. But ENCs are not easy to utilize because they are encoded according to ISO/IEC 8211 file format, and ENCs is required to utilize in parts of Marine GIS and various marine application because they are used for navigational purpose mainly. Meanwhile Google earth is satellite map that Google company service, is utilized in all kinds of industry generally providing local information including satellite image, map, topography, 3D building information, etc. In this paper, we developed KML conversion technology for ENC application. details of development contents consist of ENC loading module and KML conversion module. Also, we applied this conversion technology to Korea ENC and evaluated the results.

• Science of Emotion and Sensibility
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• 제13권1호
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• pp.197-206
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• 2010

For an emotion retrieval system implementation to support pedestrian navigation, coordinating the pedestrian emotion model with the system user's emotion is considered a key component. This study proposes a new method for capturing the user's model that corresponds to the pedestrian emotion model and examines the validity of the method. In the first phase, a database comprising a set of interior images that represent hypothetical destinations was developed. In the second phase, 10 subjects were recruited and asked to evaluate on navigation and satisfaction toward each interior image in five rounds of navigation experiments. In the last phase, the subjects' feedback data was used for of the pedestrian emotion model, which is called ‘learning' in this study. After evaluations by the subjects, the learning effect was analyzed by the following aspects: recall ratio, precision ratio, retrieval ranking, and satisfaction. Findings of the analysis verify that all four aspects significantly were improved after the learning. This study demonstrates the effectiveness of the learning algorithm for the proposed pedestrian emotion model. Furthermore, this study demonstrates the potential of such pedestrian emotion model to be well applicable in the development of various mobile contents service systems dealing with visual images such as commercial interiors in the future.