• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.12
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• pp.2030-2039
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• 2001

Recently, various inpipe inspection robots are developed and its effective values are increased in industrial use. However, it is so difficult to make a inpipe inspection robot system which has flexible mobility and accuracy of inspection in pipelines. Especially, it is very important to know the exact crack position. In this paper, we are to present a lately developed inpipe inspection robot system which can resolve the above Problems. The robot is configured as an articulated structure like a snake. Two active driving vehicles are located in front and rear of the inspection robot respectively and passive modules such as a nondestructive testing module and a control module are chained between the active vehicles. Special feature of the robot system is a ground interface, which is able to show informations of robot and pipelines. By using this, so called virtual map in this paper, user is able to know the pipelines'feature and crack position.

• Proceedings of the Korean Geotechical Society Conference
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• 2001.03a
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• pp.501-508
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• 2001

A graph or topographic map can often convey larger amounts of information in a shorter time than ordinary text-based methods. To visualize information precisely it is necessary to collect all the geological information at design stage, but actually it is almost impossible to bore or explore the entire area to gather the required data. So, tunnel engineers have to rely on the judgement of expert from the limited number of the results of exploration and experiment. In this study, several programs are developed to handle the results of geological investigation with various data processing techniques. The results of the typical case study are also presented. For the electric survey, eleven points are chosen at the valley to measure the resistivity using Schlumberger array. The measured data are interpolated in 3-dimensional space by kriging and the distribution of resistivity are visualized to find weak or fractured zone. The correlation length appears to be around 5 to 20 meter in depth. Regression analyses were performed to find a correlation length. No nugget effect is assumed, and the topographic map, geologic formation, fault zone, joint geometry and the distribution of resistivity are successfully visualized by using the proposed technique.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.5
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• pp.1856-1869
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• 2015

This paper addresses the issues of 3D human activity detection, tracking and recognition from RGB-D video sequences using a feature structured framework. During human tracking and activity recognition, initially, dense depth images are captured using depth camera. In order to track human silhouettes, we considered spatial/temporal continuity, constraints of human motion information and compute centroids of each activity based on chain coding mechanism and centroids point extraction. In body skin joints features, we estimate human body skin color to identify human body parts (i.e., head, hands, and feet) likely to extract joint points information. These joints points are further processed as feature extraction process including distance position features and centroid distance features. Lastly, self-organized maps are used to recognize different activities. Experimental results demonstrate that the proposed method is reliable and efficient in recognizing human poses at different realistic scenes. The proposed system should be applicable to different consumer application systems such as healthcare system, video surveillance system and indoor monitoring systems which track and recognize different activities of multiple users.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.8
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• pp.1996-2015
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• 2023

High-definition (HD) maps can provide precise road information that enables an autonomous driving system to effectively navigate a vehicle. Recent research has focused on leveraging semantic segmentation to achieve automatic annotation of HD maps. However, the existing methods suffer from low recognition accuracy in automatic driving scenarios, leading to inefficient annotation processes. In this paper, we propose a novel semantic segmentation method for automatic HD map annotation. Our approach introduces a new encoder, known as the convolutional transformer hybrid encoder, to enhance the model's feature extraction capabilities. Additionally, we propose a multi-level fusion module that enables the model to aggregate different levels of detail and semantic information. Furthermore, we present a novel decoupled boundary joint decoder to improve the model's ability to handle the boundary between categories. To evaluate our method, we conducted experiments using the Bird's Eye View point cloud images dataset and Cityscapes dataset. Comparative analysis against stateof-the-art methods demonstrates that our model achieves the highest performance. Specifically, our model achieves an mIoU of 56.26%, surpassing the results of SegFormer with an mIoU of 1.47%. This innovative promises to significantly enhance the efficiency of HD map automatic annotation.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.48 no.6
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• pp.8-17
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• 2011

Recently, fusion camera systems that consist of depth sensors and color cameras have been widely developed with the advent of a new type of sensor, time-of-flight (TOF) depth sensor. The physical limitation of depth sensors usually generates low resolution images compared to corresponding color images. Therefore, the pre-processing module, such as camera calibration, three dimensional warping, and hole filling, is necessary to generate the high resolution depth map that is placed in the image plane of the color image. However, the result of the pre-processing step is usually inaccurate due to errors from the camera calibration and the depth measurement. Therefore, in this paper, we present a depth map upsampling method robust these errors. First, the confidence of the measured depth value is estimated by the interrelation between the color image and the pre-upsampled depth map. Then, the detailed depth map can be generated by the modified kernel regression method which exclude depth values having low confidence. Our proposed algorithm guarantees the high quality result in the presence of the camera calibration errors. Experimental comparison with other data fusion techniques shows the superiority of our proposed method.

• Spatial Information Research
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• v.11 no.2
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• pp.101-117
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• 2003

High resolution satellite image analysis has been recognized as an effective technique for monitoring local land-cover and atmospheric changes. In this study, a new high resolution map for land-cover was generated using both high-resolution IKONOS image and conventional land-use mapping. Fuzzy classification method was applied to classify land-cover, with minimum operator used as a tool for joint membership functions. In separateness analysis, the values were not great for all bands due to discrepancies in spectral reflectance by seasonal variation. The land-cover map generated in this study revealed that conifer forests and farm land in the ground and tidal flat and beach in the ocean were highly changeable. The kappa coefficient was 0.94% and the overall accuracy of classification was 95.0%, thus suggesting a overall high classification accuracy. Accuracy of classification in each class was generally over 90%, whereas low classification accuracy was obtained for classes of mixed forest, river and reservoir. This may be a result of the changes in classification, e.g. reclassification of paddy field as water area after water storage or mixed use of several classification class due to similar spectral patterns. Seasonal factors should be considered to achieve higher accuracy in classification class. In conclusion, firstly, IKONOS image are used to generated a new improved high resolution land-cover map. Secondly, IKONOS image could serve as useful complementary data for decision making when combined with GIS spatial data to produce land-use map.

• Journal of The Korean Astronomical Society
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• v.37 no.5
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• pp.299-305
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• 2004

We find evidence of a hard X-ray excess above the thermal emission in two cool clusters (Abell 1750 and IC 1262) and a soft excess in two hot clusters (Abell 754 and Abell 2163). Our modeling shows that the excess components in Abell 1750, IC 1262, and Abell 2163 are best fit by a steep power law indicative of a significant non-thermal component. In the case of Abell 754, the excess emission is thermal, 1 ke V emission. We analyze the dynamical state of each cluster and find evidence of an ongoing or recent merger in all four clusters. In the case of Abell 2163, the detected, steep spectrum, non-thermal X-ray emission is shown to be associated with the weak merger shock seen in the temperature map. However, this shock is not able to produce the flatter spectrum radio halo which we attribute to post-shock turbulence. In Abell 1750 and IC 1262, the shocked gas appears to be spatially correlated with non-thermal emission suggesting cosmic-ray acceleration at the shock front.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2008.11a
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• pp.259-262
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• 2008

본 논문에서는 다시점 비디오와 깊이 정보의 상관도를 이용해서 현재 JVT(joint video team)에서 표준화 된 다시점 비디오 부호화 (multi-view video coding : MVC)의 참조 소프트웨어인 JMVM(joint multi-view video model)을 기반으로 하여 효율적인 다시점 비디오 압축 방법을 제안한다. 기존의 일반적인 비디오 부호화 방식은 단일 시점에 대한 비디오 부호화 기술이기 때문에 다시점 비디오 전송을 위해서는 시점 당 각각 전송 채널에 필요하다. 하지만 다시점 비디오 부호화 기법을 이용하게 되면, 단일 전송 채널을 이용하여 전송이 가능하다. 본 논문에서 제안된 방법은 입력된 다시점 입력 영상과 해당 하는 깊이 정보를 이용하여 시점 간의 예측 방법의 효율성을 높였다. 다시점 입력 영상과 깊이 정보의 전역 변이 벡터 (global disparity vector : GDV)의 상관도를 이용하였으며, 다시점 영상과 깊이 정보를 동시에 전송해야 할 경우 복잡도를 낮출 수 있고, 약 $0.01{\sim}0.1dB$의 PSNR 이득을 얻을 수 있다.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.32A no.8
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• pp.1-10
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• 1995

We have analyzed the reliability of failure models in circuit-switched networks. These models are grid topology circuit-switched networks, and each node transmits a packet to a destination node using a Flooding routing method. We have assumed that the failure of each link and node is independent. We have considered two method to analyze reliability in these models : The Karnaugh Map method and joint probability method. In this two method, we have analyzed the reliability in a small grid topology circuit switched network by a joint probability method, and comared analytic results with simulated ones. For a large grid enormous. So, we have evaluated the reliability of the network by computer simulation techniques. As results, we have found that the analytic results are very close to simulated ones in a small grid topology circuit switched network. And, we have found that network reliability decreases exponentially, according to increment of link or node failure, and network reliability is almost linearly decreased according to increment of the number of links, by which call has passed. Finally, we have found an interesting result that nodes in a center of the network are superior to the other nodes from the reliability point of view.

• Journal of Broadcast Engineering
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• v.25 no.3
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• pp.405-417
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• 2020

Due to the popularization of the Extended Reality, research is actively underway to implement human motion in real-time 3D animation. In particular, Microsoft developed Kinect cameras for 3D motion information can be obtained without the burden of facilities and with simple operation, real-time animation can be generated by combining with 3D formats such as FBX. Compared to the marker-based motion capture system, however, Kinect has low accuracy due to its lack of estimated performance of joint information. In this paper, two algorithms are proposed to correct joint estimation errors in order to realize natural human motion in motion capture animation system in Kinect camera-based FBX format. First, obtain the position information of a person with a Kinect and create a depth map to correct the wrong joint position value using the human body segment length constraint information, and estimate the new rotation value. Second, the pre-set joint motion range constraint is applied to the existing and estimated rotation value and implemented in FBX to eliminate abnormal behavior. From the experiment, we found improvements in human behavior and compared errors between algorithms to demonstrate the superiority of the system.