• Journal of Positioning, Navigation, and Timing
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• 제9권1호
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• pp.23-31
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• 2020

It is essential to estimate the vehicle localization for an autonomous safety driving. In particular, since LIDAR provides precise scan data, many studies carried out to estimate the vehicle localization using LIDAR and pre-generated map. The road marking always exists on the road because of provides driving information. Therefore, it is often used for map information. In this paper, we propose to generate the Gaussian mixture map based on road-marking information and localization method using this map. Generally, the probability distributions map stores the single Gaussian distribution for each grid. However, single resolution probability distributions map cannot express complex shapes when grid resolution is large. In addition, when grid resolution is small, map size is bigger and process time is longer. Therefore, it is difficult to apply the road marking. On the other hand, Gaussian mixture distribution can effectively express the road marking by several probability distributions. In this paper, we generate Gaussian mixture map and perform vehicle localization using Gaussian mixture map. Localization performance is analyzed through the experimental result.

• 천문학회보
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• 제40권1호
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• pp.62.1-62.1
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• 2015

Polarization of the light reflected off the Moon provides information on the size and composition of the particles in the lunar regolith. The mean particle size of the regolith can be estimated from the combination of the albedo and degree of polarization, while the color ratio of the parallel-component polarization (CP) has been suggested to be related to the amount of nanophase metallic iron (npFe^0) inside the regolith particles. Both the mean size and npFe^0 abundance of the particles have been used as maturity indicators of the regolith since sustained impacts of high energy particles and micro-meteoroids cause comminution of particles and production of npFe^0. Based on our multispectral polarimetric observations of the whole near side of the Moon in the U, B, V, R, and I bands, we compare the maps of the mean particle size, CP, and the optical maturity (OM). We find that the mean particle size map is sensitive to the most immature (~0.1 Gyr) soil, the OP map to the intermediate immaturity (a few 0.1 Gyr) soil, and the CP map to the least immature (~1 Gyr) soil.

• 제어로봇시스템학회논문지
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• 제12권5호
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• pp.450-456
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• 2006

Monte Carlo localization is known to be one of the most reliable methods for pose estimation of a mobile robot. 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 pose estimate because the number of random samples is usually very large especially for a large-scale environment. For practical implementation of 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 through the thinning technique, which is commonly used in image processing, is employed. The global topological map is first created from the given grid map for the environment. The robot then 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 similar to the one obtained off-line from the given grid map. Random samples are drawn near the topological edge instead of being taken with uniform distribution all over the environment, since the robot traverses along the edge. 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 without adverse effects on the performance of MCL.

• 한국멀티미디어학회논문지
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• 제19권7호
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• pp.1116-1126
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• 2016

Image segmentation is widely used in the pre-processing stage of image analysis and, therefore, the accuracy of image segmentation is important for performance of an image-based analysis system. An efficient image segmentation method is proposed, including a filtering process for super-pixels, improved saliency map information, and a merge process. The proposed algorithm removes areas that are not equal or of small size based on comparison of the area of smoothed superpixels in order to maintain generation of a similar size super pixel area. In addition, application of a bilateral filter to an existing saliency map that represents human visual attention allows improvement of separation between objects and background. Finally, a segmented result is obtained based on the suggested merging process without any prior knowledge or information. Performance of the proposed algorithm is verified experimentally.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1939-1944
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• 2003

This paper presents a global path planning algorithm based on a visibility graph method, and applies additionally various constraints for constructing the reduced visibility graph. The modification algorithm for generating the rounded path is applied to the globally shortest path of the visibility graph using the robot size constraint in order to avoid the obstacle. In order to check the visibility in given 3D map data, 3D CAD data with VRML format is projected to the 2D plane of the mobile robot, and the projected map is converted into an image for easy map analysis. The image processing are applied to this grid map for extracting the obstacles and the free space. Generally, the tree size of visibility graph is proportional to the factorial of the number of the corner points. In order to reduce the tree size and search the shortest path efficiently, the various constraints are proposed. After short paths that crosses the corner points of obstacles lists up, the shortest path among these paths is selected and it is modified to the combination of the line path and the arc path for the mobile robot to avoid the obstacles and follow the rounded path in the environment. The proposed path planning algorithm is applied to the mobile robot LCAR-III.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2001년도 하계종합학술대회 논문집(4)
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• pp.65-68
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• 2001

In this paper, we propose a method to interpolate two images obtained from two parallel cameras. The proposed method uses BDM(Bidirectional Disparity Map) to prevent hole generation due to occlusion. Furthermore, we use the block-based DM(Disparity Map) to decrease the amount of computation, and also use the adaptive block size to minimize the error of the block-based DM.

• 한국동물학회:학술대회논문집
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• 한국동물학회 1997년도 제18회 생물과학 심포지움 강연록
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• pp.42-57
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• 1997

The multicriterion matrix technique (MM-technique) was proposed for a method of monitoring and assessment about vegetation naturalness. Four criteria and 10 subcriteria were selected and two evaluation indices such as VN-value and VN-class were used. The criteria were characterized by syntaxonomical informations of hemeroby concept and potential natural vegetation, hierarchical system between criteria, and ordinal scale of VN-values. VN-values were classified into 11 ordinal levels and condensed to five VN-classes for facilitating practical use. A vegetation map of naturalness described by combination o( two indices was proposed as an alternative resolution of the DGN map. We also discuss the organization of the map content which is a matter of grid size (unit-area). In the case study, a grid size proper to show a full account of real information of actual vegetation is less 250-grid (250 $\times$ 250 $m^2$) in a medium size of city area containing relatively fragmented ecosystems. In conclusion, it was recognized that this new assessment technique was useful and vegetation assessment was accomplished with the smaller grid size in Korea.

• 산업경영시스템학회지
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• 제46권2호
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• pp.1-12
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• 2023

To make semiconductor chips, a number of complex semiconductor manufacturing processes are required. Semiconductor chips that have undergone complex processes are subjected to EDS(Electrical Die Sorting) tests to check product quality, and a wafer bin map reflecting the information about the normal and defective chips is created. Defective chips found in the wafer bin map form various patterns, which are called defective patterns, and the defective patterns are a very important clue in determining the cause of defects in the process and design of semiconductors. Therefore, it is desired to automatically and quickly detect defective patterns in the field, and various methods have been proposed to detect defective patterns. Existing methods have considered simple, complex, and new defect patterns, but they had the disadvantage of being unable to provide field engineers the evidence of classification results through deep learning. It is necessary to supplement this and provide detailed information on the size, location, and patterns of the defects. In this paper, we propose an anomaly detection framework that can be explained through FCDD(Fully Convolutional Data Description) trained only with normal data to provide field engineers with details such as detection results of abnormal defect patterns, defect size, and location of defect patterns on wafer bin map. The results are analyzed using open dataset, providing prominent results of the proposed anomaly detection framework.

• 한국측량학회:학술대회논문집
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• 한국측량학회 2003년도 추계학술발표회 논문집
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• pp.281-286
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• 2003

Since National Geographic Information System was started, paper maps have been made with computer aided editing of digital map, instead of etching map-size negative film. Automated paper mapping system's necessity is growing more and more, because digital map has changed into Ver.2.0 which include attributes of feature. Therefore, in this study we try to analyze correlation of the digital map feature code and the 1/5,000 topographic map specifications which is necessary for paper mapping automatization using digital map Ver.2.0, and try to develop fundamental modules which will play a core role in automated paper mapping system.

• 한국통신학회논문지
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• 제32권5A호
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• pp.426-432
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• 2007

터보 복호를 위한 MAP(Maximum A Posteriori) 알고리즘을 슬라이딩 윈도우 방식으로 설계하고 구현하였다. 먼저, 구현하는데 필요한 논쟁점들 즉, 슬라이딩 윈도우의 길이 및 상태 메트릭의 정규화 방식 등이 논의되고 그들의 최적 값을 모의실험을 통하여 얻었다. 또, 가지 메트릭 계산기를 포함한 복호기의 모든 구성요소의 회로가 제출되었다. 제안된 MAP구조는 버퍼 제어를 간단히 하여 슬라이딩 윈도우 크기 즉, 부-프레임 길이의 변경에 따라 쉽게 재설계 될 수 있다.