• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.700-710
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• 2009

A computer vision technique of estimating the location of an unmanned ground vehicle is proposed. Identifying the location of the unmaned vehicle is very important task for automatic navigation of the vehicle. Conventional positioning sensors may fail to work properly in some real situations due to internal and external interferences. Given a DSM(Digital Surface Map), location of the vehicle can be estimated by the registration of the DSM and multiview range images obtained at the vehicle. Registration of the DSM and range images yields the 3D transformation from the coordinates of the range sensor to the reference coordinates of the DSM. To estimate the vehicle position, we first register a range image to the DSM coarsely and then refine the result. For coarse registration, we employ a fast random sample matching method. After the initial position is estimated and refined, all subsequent range images are registered by applying a pair-wise registration technique between range images. To reduce the accumulation error of pair-wise registration, we periodically refine the registration between range images and the DSM. Virtual environment is established to perform several experiments using a virtual vehicle. Range images are created based on the DSM by modeling a real 3D sensor. The vehicle moves along three different path while acquiring range images. Experimental results show that registration error is about under 1.3m in average.

• Journal of Korea Multimedia Society
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• v.21 no.9
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• pp.1076-1089
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• 2018

Respiration is the process of moving air into and out of the lung. Respiration changes the temperature in the chamber while exchanging energy. Especially the temperature of the face. Respiration monitoring using an infrared camera measures the temperature change caused by breathing. The conventional method assumes that motion is not considered and measures respiration. These assumptions can not accurately measure the respiration rate when breathing moves. In addition, the respiration rate measurement is performed by counting the number of peaks of the breathing waveform by displaying the position of the peak in a specific window, and there is a disadvantage that the breathing rate can not be measured accurately. In this paper, we use KLT tracking and block matching to calibrate limited weak movements during breathing and extract respiration waveform. In order to increase the accuracy of the respiration rate, the position of the peak used in the breath calculation is calculated by converting from a single point to a high resolution. Through this process, the respiration signal could be extracted even in weak motion, and the respiration rate could be measured robustly even in various time windows.

• Journal of Advanced Navigation Technology
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• v.22 no.3
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• pp.220-227
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• 2018

The most widely used method for constructing an inertial navigation system (INS)/global navigation satellite system (GNSS) coupling system is to construct an integrated navigation system using a Kalman filter. However, depending on the trajectory, non-observable state variables may be generated. In this case, the state variables are not estimated. To solve this problem, a integrated navigation system is constructed and then an observability analysis is performed. In this paper, a 24th order position-matched Kalman filter is defined to design an INS/GNSS integrated navigation system for vehicles moving with a large pitch angle change. To verify the appropriateness of the error state variables applied to the Kalman filter, an observability analysis was performed. The trajectory was divided into five segments, and the piece-wise constant system (PWCS) was assumed for each segment, and the results were analytically analyzed. The analytical results and the simulation results confirm that the error state parameters of the Kalman filter are well-designed to the estimation side.

• The Journal of the Korea Contents Association
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• v.7 no.6
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• pp.44-51
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• 2007

For real-time recognizing of model objects in remote position a new Neural Networks algorithm is proposed. The proposed neural networks technique is the real time computation methods through the inter-node diffusion. In the networks, a node corresponds to a state in the quantized input space. Each node is composed of a processing unit and fixed weights from its neighbor nodes as well as its input terminal. The most reliable algorithm derived for real time recognition of objects, is a dynamic programming based algorithm based on sequence matching techniques that would process the data as it arrives and could therefore provide continuously updated neighbor information estimates. Through several simulation experiments, real time reconstruction of the nonlinear image information is processed. 1-D LIPN hardware has been composed and various experiments with static and dynamic signals have been implemented.

• Journal of Astronomy and Space Sciences
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• v.33 no.3
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• pp.221-227
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• 2016

As described in the previous paper (Park et al. 2013), the detector subsystem of optical wide-field patrol (OWL) provides many observational data points of a single artificial satellite or space debris in the form of small streaks, using a chopper system and a time tagger. The position and the corresponding time data are matched assuming that the length of a streak on the CCD frame is proportional to the time duration of the exposure during which the chopper blades do not obscure the CCD window. In the previous study, however, the length was measured using the diagonal of the rectangle of the image area containing the streak; the results were quite ambiguous and inaccurate, allowing possible matching error of positions and time data. Furthermore, because only one (position, time) data point is created from one streak, the efficiency of the observation decreases. To define the length of a streak correctly, it is important to locate the endpoints of a streak. In this paper, a method using a differential convolution mask pattern is tested. This method can be used to obtain the positions where the pixel values are changed sharply. These endpoints can be regarded as directly detected positional data, and the number of data points is doubled by this result.

• The Journal of the Korea Contents Association
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• v.12 no.11
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• pp.9-19
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• 2012

Time-varying tempo of a song is one of the error sources for the identification of a note duration in automatic music recognition. This paper proposes an improved music transcription scheme equipped with the identification of note duration considering the time-varying tempo. In the proposed scheme the measures are found at first and the tempo, the playing time of each measure, is then estimated. The tempo is then used for resizing each IOI(Inter Onset Interval) length and considered to identify the accurate note duration, which increases the degree of correspondence to the music piece. In the experiment the proposed scheme found the accurate measure position for 14 monophonic children songs out of 16 ones recorded by men and women. Also, it achieved about 89.4% and 84.8% of the degree of matching to the original music piece for identification of note duration and pitch, respectively.

• Journal of Ginseng Research
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• v.41 no.1
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• pp.78-84
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• 2017

Background: In the present study, metabolite profiles of ginsenosides Rk1 and Rg5 from red ginseng or red notoginseng in zebrafish were qualitatively analyzed with ultraperformance liquid chromatography/quadrupole-time-of-flight MS, and the possible metabolic were pathways proposed. Methods: After exposing to zebrafish for 24 h, we determined the metabolites of ginsenosides Rk1 and Rg5. The chromatography was accomplished on UPLC BEH C18 column using a binary gradient elution of 0.1% formic acetonitrile-0.1% formic acid water. The quasimolecular ions of compounds were analyzed in the negative mode. With reference to quasimolecular ions and MS2 spectra, by comparing with reference standards and matching the empirical molecular formula with that of known published compounds, and then the potential structures of metabolites of ginsenosides Rk1 and Rg5 were acquired. Results: Four and seven metabolites of ginsenoside Rk1 and ginsenoside Rg5, respectively, were identified in zebrafish. The mechanisms involved were further deduced to be desugarization, glucuronidation, sulfation, and dehydroxymethylation pathways. Dehydroxylation and loss of C-17 residue were also metabolic pathways of ginsenoside Rg5 in zebrafish. Conclusion: Loss of glucose at position C-3 and glucuronidation at position C-12 in zebrafish were regarded as the primary physiological processes of ginsenosides Rk1 and Rg5.

• Journal of Broadcast Engineering
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• v.10 no.3
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• pp.357-371
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• 2005

In this Paper, we propose a new motion search algorithm called CDTS (Cross-Diamond-Triangle Search algorithm) that uses optimal search pattern according to the position of a search area to improve the performance of CDS(Cross-Diamond Search algorithm) as well as CDHSs(Cross-Diamond-Hexagonal Searches algorithms). We analyze motion distributions in various test video sequences to apply optimal search pattern according to a position of search area. Based on the result of this analysis, we propose a new triangle-shaped search pattern whose structure is asymmetric while previous search patterns are generally symmetric in conventional algorithms. In CDTS, we apply cross- and diamond-shaped search patterns to central search areas, and triangle- and diamond-shaped patterns to the other areas. Applying CDTS to test video sequences, the proposed scheme can reduce search points more than CDS and CDHSs by 16.22$\%$ and 3.09$\%$, respectively, without any visual quality degradation.

• Korean Journal of Geomatics
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• v.2 no.1
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• pp.47-55
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• 2002

Remote sensing is the science and art of obtaining information about an object, area or phenomenon through the analysis of data acquired by a device that is not in contact with the object, area, or phenomenon under investigation./sup 1)/ EOC (Electro -Optical Camera) sensor loaded on the KOMPSAT-1 (Korea Multi- Purpose Satellite-1) performs the earth remote sensing operation. EOC can get high-resolution images of ground distance 6.6m during photographing; it is possible to get a tilt image by tilting satellite body up to 45 degrees at maximum. Accordingly, the device developed in this study enables to obtain images by photographing one pair of tilt image for the same point from two different planes. KOMPSAT-1 aims to obtain a Korean map with a scale of 1:25,000 with high resolution. The KOMPSAT-1 developed automated feature extraction system based on stereo satellite image. It overcomes the limitations of sensor and difficulties associated with preprocessing quite effectively. In case of using 6, 7 and 9 ground control points, which are evenly spread in image, with 95% of reliability for horizontal and vertical position, 3-dimensional positioning was available with accuracy of 6.0752m and 9.8274m. Therefore, less than l0m of design accuracy in KOMPSAT-1 was achieved. Also the ground position error of ortho-image, with reliability of 95%, is 17.568m. And elevation error showing 36.82m was enhanced. The reason why elevation accuracy was not good compared with the positioning accuracy used stereo image was analyzed as a problem of image matching system. Ortho-image system is advantageous if accurate altitude and production of digital elevation model are desired. The Korean map drawn on a scale of 1: 25,000 by using the new technique of KOMPSAT-1 EOC image adopted in the present study produces accurate result compared to existing mapping techniques involving high costs with less efficiency.

• Journal of Platform Technology
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• v.9 no.4
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• pp.60-70
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• 2021

This paper proposes a method capable of stably tracking the coordinates of a patterned laser image in a curved screen shooting system using two or more channels of multiple cameras. This method can track and acquire target points very effectively when applied to a multi-screen shooting method that can replace the HMD shooting method. Images of curved screens with severe deformation obtained from individual cameras are corrected through image normalization, image binarization, and noise removal. This corrected image is created and applied as an Euclidean space map that is easy to track the firing point based on the matching point. As a result of the experiment, the image coordinates of the pattern laser were stably extracted in the curved screen shooting system, and the error of the target point position of the real-world coordinate position and the broadband Euclidean map was minimized. The reliability of the proposed method was confirmed through the experiment.