• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2018.05a
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• pp.230-231
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• 2018

Ports and coastal areas that serve as national corridors have threats such as smuggling ships, enemy infiltration ships and pirate ships. To prevent intrusion of intrusive vessels, a system is needed to continuously monitor the coastal area and detect their intrusion. However, it is difficult for surveillance personnel to identify threatened vessels while monitoring large coastal areas. In this paper, we propose a system that can monitor coastal and harbor area and automatically detect ships entering the Navigation Inhibit Area to generate alarms and classify the types of ships by image classification.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.10b
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• pp.145-150
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• 2000

The most important thing in the ship is safety. In this paper, we discussed a development of the education system on various equipments concerned to safety. It may increase the effect of the education for the equipment by showing the details of safety equipments, general account, a manual, LSA(Life Saving Appliance) Code and SOLAS convention through an image on a screen.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1375-1378
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• 1997

In this paper, we presents the algorithm which is to recognize the traffic sign on the road the traffic signal in a video image for autonomous navigation. First, the rocognition of traffic sign on the road can be detected using boundary point estimation form some scan-lines within the lane deducted. For this algorithm, index matrix method is used to detemine what sign is. Then, the traffic signal recognition is performed by usign the window minified by several scan-lines which position may be expected. For this algoritm, line profile concept is adopted.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1993.10a
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• pp.810-819
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• 1993

An autonomous lan vehicle for agriculture(ALVA-II) was developed. A prototype vehicle was made by modifying a commercial tractor. A Navigation sensor system with a geo-magnetic sensor performed the autonomous operations of ALVA-II, such as rotary tilling with headland turnings. A navigation sensor system with a machine vision system was also investigated to control ALVA-II following a work boudnary.

• Journal of the Ergonomics Society of Korea
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• v.12 no.1
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• pp.75-86
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• 1993

Hypermedia systems allow the retrieval and representation of multimedia in- formation such as text, graphics, image and voice/sound using navigation and browsing mechanisms. In this study we developed a hypermedia system which provides hierarchical group, local map and cluster view for effective navigation in hyperspace. The system also supports hot link, reference link, move-to link and multiple link to browse the multimedia information space effectively. This system has been designed to integrate the navigation, browsing and searching function of the hypermedia system in hyman factor perspective and provides the user-friendly user interface mechanism.

• Journal of Mechanical Science and Technology
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• v.17 no.10
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• pp.1411-1422
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• 2003

The detection of free spaces between obstacles in a scene is a prerequisite for navigation of a mobile robot. Especially for stereo vision-based navigation, the problem of correspondence between two images is well known to be of crucial importance. This paper describes multi-range approach of area-based stereo matching for grid mapping and visual navigation in uncertain environment. Camera calibration parameters are optimized by evolutionary algorithm for successful stereo matching. To obtain reliable disparity information from both images, stereo images are to be decomposed into three pairs of images with different resolution based on measurement of disparities. The advantage of multi-range approach is that we can get more reliable disparity in each defined range because disparities from high resolution image are used for farther object a while disparities from low resolution images are used for close objects. The reliable disparity map is combined through post-processing for rejecting incorrect disparity information from each disparity map. The real distance from a disparity image is converted into an occupancy grid representation of a mobile robot. We have investigated the possibility of multi-range approach for the detection of obstacles and visual mapping through various experiments.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.2
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• pp.237-242
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• 2009

Comparing with fixed-type Robots, Mobile Robots have the advantage of extending their workspaces. But this advantage need some sensors to detect mobile robot's position and find their goal point. This article describe the navigation teaching method of mobile robot using omni-directional position detection system. This system offers the brief position data to a processor with simple devices. In other words, when user points a goal point, this system revise the error by comparing its heading angle and position with the goal. For these processes, this system use a conic mirror and a single camera. As a result, this system reduce the image processing time to search the target for mobile robot navigation ordered by user.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.10
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• pp.703-713
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• 2004

This paper presents the new obstacle avoidance method that is composed of vision and sonar sensors, also a navigation algorithm is proposed. Sonar sensors provide poor information because the angular resolution of each sonar sensor is not exact. So they are not suitable to detect relative direction of obstacles. In addition, it is not easy to detect the obstacle by vision sensors because of an image disturbance. In This paper, the new obstacle direction measurement method that is composed of sonar sensors for exact distance information and vision sensors for abundance information. The modified splitting/merging algorithm is proposed, and it is robuster for an image disturbance than the edge detecting algorithm, and it is efficient for grouping of the obstacle. In order to verify our proposed algorithm, we compare the proposed algorithm with the edge detecting algorithm via experiments. The direction of obstacle and the relative distance are used for the inputs of the fuzzy controller. We design the angular velocity controllers for obstacle avoidance and for navigation to center in corridor, respectively. In order to verify stability and effectiveness of our proposed method, it is apply to a vision and sonar based mobile robot navigation system.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.28 no.8
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• pp.24-31
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• 2014

This paper dealt with the LED optical illumination system design for the Masthead navigation light to replace halogen lamps. We made Fresnel lens satisfy luminous intensity distribution of "Convention on the International Regulation for Preventing Collisions at Sea(COLREG)". The optical system is designed by classifying three parts: light source, lens, and cut off plate. The source of light has been made to have the uniform horizontal and vertical light distribution by placing 6 LEDs at intervals of $54^{\circ}$, and as the cylindrical Fresnel lens, the lens has been designed to achieve the uniform horizontal and vertical light distribution in the range of plain light. Finally, the cover has been designed to block the light from the outside of plain light and ultimately met the standards for light distribution of navigation lights. In addition, the validity of design has been verified with manufacturing a trial product.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.2
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• pp.271-280
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• 2011

This paper presents a navigation system based on the tactical communication and vision system in outdoor environments which is applied to unmanned robot for perimeter surveillance operations. GPS errors of robot are compensated by the reference station of C2(command and control) vehicle and WiBro(Wireless Broadband) is used for the communication between two systems. In the outdoor environments, GPS signals can be easily blocked due to trees and buildings. In this environments, however, vision system is very efficient because there are many features. With the feature MAP around the operation environments, the robot can estimate the position by the image matching and pose estimation. In the navigation system, thus, operation modes is switched by navigation manager according to some environment conditions. The experimental results show that the unmanned robot can estimate the position very accurately in outdoor environment.