• Journal of the Institute of Convergence Signal Processing
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• v.5 no.4
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• pp.256-262
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• 2004

A key component of an autonomous mobile robot is to localize itself and build a map of the environment simultaneously. In this paper, we propose a vision-based localization and mapping algorithm of mobile robot using fisheye lens. To acquire high-level features with scale invariance, a camera with fisheye lens facing toward to ceiling is attached to the robot. These features are used in mP building and localization. As a preprocessing, input image from fisheye lens is calibrated to remove radial distortion and then labeling and convex hull techniques are used to segment ceiling and wall region for the calibrated image. At the initial map building process, features we calculated for each segmented region and stored in map database. Features are continuously calculated for sequential input images and matched to the map. n some features are not matched, those features are added to the map. This map matching and updating process is continued until map building process is finished, Localization is used in map building process and searching the location of the robot on the map. The calculated features at the position of the robot are matched to the existing map to estimate the real position of the robot, and map building database is updated at the same time. By the proposed method, the elapsed time for map building is within 2 minutes for 50㎡ region, the positioning accuracy is ±13cm and the error about the positioning angle of the robot is ±3 degree for localization.

• Journal of IKEEE
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• v.9 no.1 s.16
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• pp.7-18
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• 2005

A key component of an autonomous mobile robot is to localize itself accurately and build a map of the environment simultaneously. In this paper, we propose a vision-based mobile robot localization and mapping algorithm using scale-invariant features. A camera with fisheye lens facing toward to ceiling is attached to the robot to acquire high-level features with scale invariance. These features are used in map building and localization process. As pre-processing, input images from fisheye lens are calibrated to remove radial distortion then labeling and convex hull techniques are used to segment ceiling region from wall region. At initial map building process, features are calculated for segmented regions and stored in map database. Features are continuously calculated from sequential input images and matched against existing map until map building process is finished. If features are not matched, they are added to the existing map. Localization is done simultaneously with feature matching at map building process. Localization. is performed when features are matched with existing map and map building database is updated at same time. The proposed method can perform a map building in 2 minutes on $50m^2$ area. The positioning accuracy is ${\pm}13cm$, the average error on robot angle with the positioning is ${\pm}3$ degree.

• Korean Journal of Agricultural and Forest Meteorology
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• v.24 no.3
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• pp.155-163
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• 2022

The optimization of long-range ensemble climate prediction for rice phenology model with advanced bias correction method is conducted. The daily long-range forecast(6-month) of mean/ minimum/maximum temperature and observation of January to October during 1991-2021 is collected for rice phenology prediction. In this study, the concept of "buffer period" is newly introduced to reduce the problem after bias correction by quantile mapping with constructing the transfer function by month, which evokes the discontinuity at the borders of each month. The four experiments with different lengths of buffer periods(5, 10, 15, 20 days) are implemented, and the best combinations of buffer periods are selected per month and variable. As a result, it is found that root mean square error(RMSE) of temperatures decreases in the range of 4.51 to 15.37%. Furthermore, this improvement of climatic variables quality is linked to the performance of the rice phenology model, thereby reducing RMSE in every rice phenology step at more than 75~100% of Automated Synoptic Observing System stations. Our results indicate the possibility and added values of interdisciplinary study between atmospheric and agriculture sciences.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.39 no.6
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• pp.549-554
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• 2021

Precise 3D road geospatial information is the basic infrastructure for autonomous driving and is essential data for safe autonomous driving. MMS (Mobile Mapping System) is being used as equipment for road spatial information construction, and related research is being conducted. However, there are insufficient studies to analyze the effect of the baseline reference point distance, which is an important factor in the accuracy of the MMS outcome, on the accuracy of the outcome. Therefore, in this study, the accuracy of the data acquired using MMS by reference point distance was analyzed. Point cloud data was constructed using MMS for the road in the study site. For data processing, 4 data were constructed considering the distance from the reference point for MMS data, and the accuracy was analyzed by comparing the results of 12 checkpoints for accuracy evaluation. The accuracy of the MMS data showed a difference of -0.09 m to 0.11 m in the horizontal direction and 0.04 m to 0.19 m in the height direction. The error in the vertical direction was larger than that in the horizontal direction, and it was found that the accuracy decreased as the distance from the reference point increased. In addition, as the length of the road increases, the distance from the reference point may vary, so additional research is needed. If the accuracy evaluation of the method using multiple reference points is made in the future, it will be possible to present an effective method of using reference points for the construction of precise road spatial information.

• Journal of Korean Tunnelling and Underground Space Association
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• v.26 no.2
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• pp.113-128
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• 2024

Items of road tunnel PISD (Precise Inspection for Safety and Diagnosis) were reviewed and analyzed using newly enhanced MMS (Mobile Mapping System) technology. Possible items with MMS can be visual inspection, survey and non-destructive test, structural analysis, and maintenance plan. The resolution of 3D point cloud decreased when the vehicle speed of MMS is too fast while the calibration error increased when it is too slow. The speed measurement of 50 km/h is determined to be effective in this study. Although image resolution by MMS has a limit to evaluating the width of crack with high precision, it can be used as data to identify the status of facilities in the tunnel and determine whether they meet disaster prevention management code of tunnel. 3D point cloud with MMS can be applicable for matching of cross-section and also possible for the variation of longitudinal survey, which can intuitively check vehicle clearance throughout the road tunnel. Compared with the measurement of current PISD, number of test and location of survey is randomly sampled, the continuous measurement with MMS for environment condition can be effective and meaningful for precise estimation in various analysis.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.10
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• pp.430-436
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• 2018

Special railway vehicles for track maintenance are equipped with a tamping device that adjusts various track trajectories to reduce the vibration of rolling stock and improve ride quality during trains passing over a track. The development of a simulator that can confirm the error of the actual tamping work is important for reducing human error in the linearization of the track misalignment. In this study, to improve the reality and training effect of conventional 2D simulator, 3D simulator modeling was implemented for tamping work of special railway vehicles in virtual space. The problem of buffering during high screen quality of tamping work was solved using the Unwrap UVW mapping technique of a low polygon extracted from high quality polygon modeling. The human error in the training of the tamping work was detected by the principle of circle and square collision when the tamping tyne and the sleeper collided. In addition, vibration of the driving chair was generated at the same time as the collision, and the number of the sleeper strikes is displayed on the simulator exercise screen. Owing to the scattering of railway ballast protruding from the sleepers, which had a serious effect on the safety of the vehicle, the gravel bouncing effect of the tamping unit was applied.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1034-1039
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• 2005

SALM(Simultaneous localization and mapping) and AI(Artificial intelligence) have been active research areas in robotics for two decades. In particular, localization is one of the most important tasks in mobile robot research. Until now expensive sensors such as a laser sensor have been used for mobile robot localization. Currently, the proliferation of RFID technology is advancing rapidly, while RFID reader devices, antennas and tags are becoming increasingly smaller and cheaper. So, in this paper, the smart floor using passive RFID tags is proposed and, passive RFID tags are mainly used for identifying location of the mobile robot in the smart floor. We discuss a number of challenges related to this approach, such as tag distribution (density and structure), typing and clustering. In the smart floor using RFID tags, the localization error results from the sensing area of the RFID reader, because the reader just knows whether the tag is in the sensing range of the sensor and, until now, there is no study to estimate the heading of mobile robot using RFID tags. So, in this paper, two algorithms are suggested to. The Markov localization method is used to reduce the location(X,Y) error and the Kalman Filter method is used to estimate the heading($\theta$) of mobile robot. The algorithms which are based on Markov localization require high computing power, so we suggest fast Markov localization algorithm. Finally we applied these algorithms our personal robot CMR-P3. And we show the possibility of our probability approach using the cheap sensors such as odometers and RFID tags for mobile robot localization in the smart floor

• KSCE Journal of Civil and Environmental Engineering Research
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• v.12 no.1
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• pp.151-158
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• 1992

Topographic mapping from economic SPOT stereo imagery than aerial photographs has become possible. Many of authors have studied the possibility of base map revisions and the accuracy of results. They have concluded that the SPOT image is suitable for 1/50,000 to 1/100,000 topographic map. For topographic map, orthophoto and DTM generation from SPOT imagery, accurate exterior orientation parameters are needed. But since the geometric characteristic of SPOT image is dynamic linear array imagery, the conventional bundle adjustment for photogrammetry can not be directly applied. Reliability is the ability to detect gross error, which is called the internal reliability, and the effect of non-detectable gross error on the results of exterior orientation, which is called the external reliability. This paper shows how the reliability of SPOT imagery depends on the different coordinate systems, presentations of coordinate for flight direction, orders of exterior orientation parameters and distribution of control points, and thus analyses the theoretical reliability of the exterior orientation, which can provide a basis for the planning of SPOT projects.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.3C
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• pp.237-244
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• 2006

I/Q phase unbalance caused by non-ideal circuit components is inevitable physical phenomenons and leads to performance degradation when we implement a practical coherent M-ary phase shift keying(M-PSK) demodulator. In this paper, we present an exact and general expression involving two-dimensional Gaussian Q-functions for the bit error rate(BER) of uniform M-PSK with I/Q phase unbalance over an additive white Gaussian noise(AWGN) channel. First we derive a BER expression for the k-th bit of 8, 16-PSK signal constellations when Gray code bit mapping is employed. Then, from the derived k-th bit BER expression, we present the exact and general average BER expression for M-PSK with I/Q phase unbalance. This result can readily be applied to numerical evaluation for various cases of practical interest in an I/Q unbalanced M-PSK system, because the one- and two-dimensional Gaussian Q-functions can be easily and directly computed using commonly available mathematical software tools.

• Journal of Positioning, Navigation, and Timing
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• v.9 no.3
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• pp.229-236
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• 2020

The trend of water vapor contents in atmosphere is one of key elements for studying climate change. The tropospheric products, i.e., ZTD values achieved through GPS data processing can retrieve the amount of water vapor with higher temporal and spatial resolution than any other instruments. In this study, the tropospheric products of KASINET for a time period from 2001 to 2014 are reprocessed using PPP strategy and the products from the CODE's 2nd reprocessing campaign. For consistency with reprocessing activities of other networks like EPN, the VMF1 mapping function and non-tidal loading effect due to atmospheric pressure are applied in the process. The reprocessing results are investigated through comparing with the CODE's 2nd reprocessing products by including some IGS stations in the process and also calculating weekly coordinate repeatability to see the quality of the processing. After removing outliers based on the variation of averaged formal error, all processed stations have similar variations of formal error about 2 mm which is lower than that of the IGS final product. Comparison results with the CODE's 2nd reprocessing products show that the overall mean difference is found to be -0.28±5.54 mm which is similar level of the previous studies. Finally, the ZTD trends of all KASINET stations are calculated and the averaged trend is achieved as 0.19 mm/yr. However, the trend of each month shows different amounts and directions from -1.26 mm/yr in May to 1.18 mm/yr in August. In conclusion, the reprocessed tropospheric product and applied strategy of this study has enough quality as one of reliable solution for a reference product for Korean Peninsula which is needed to use GPSbased tropospheric product for climate change research.