• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.400-403
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• 2005

The sonar sensors can be divided into a piezo type and an electrostatic type according to a principle of an operating system. The electrostatic type of a sonar sensor is used for map building in this paper. If we know the characteristics of sonar sensor, we can derive the ultrasonic pressure equation from an acoustics theory. We, therefore, developed Ultrasonic Pressure Probabilistic Model (UPPM) to consider the sound pressure in the probability updating process. In this paper, we found that the quality of the resulting probability map is considerably improved, through combining the UPPM with the grid-based mapping algorithm.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.12 s.177
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• pp.61-69
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• 2005

This paper presents an efficient method of extracting line segments from the occupancy grids in a grid map. The grid map is composed of 2-D grids that have both the occupancy and orientation probabilities using sonar sensors. We evaluate the orientation information of every grid when the occupancy probability of the grid is updated from sonar range data. To find the shape of an object in the map from orientation information, the orientations are clustered into several groups according to their values. The line segments are, then, extracted from the clusters based on Hough transform. Finally, a feature-based map is built with these line segments. The proposed method is illustrated with the results produced by sets of experiments in an indoor environment.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.3
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• pp.191-195
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• 2013

This paper proposes an automatic method for discovering cross-lingual links from English Wikipedia documents to Korean ones in order to increase connectivity among vast web resources. Compared to the existing methods roughly estimating link probability of phrases, candidate anchors are selected from English documents by using various information such as title lists and linking probability extracted from Wikipedia dumps and the results of named-entity recognition, and the anchors are translated into Korean words, and then the most suitable Korean documents with the words are selected as cross-lingual links. The experimental results showed 0.375 of MAP.

• ETRI Journal
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• v.37 no.6
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• pp.1220-1230
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• 2015

An autonomous valet parking (AVP) system is designed to locate a vacant parking space and park the vehicle in which it resides on behalf of the driver, once the driver has left the vehicle. In addition, the AVP is able to direct the vehicle to a location desired by the driver when requested. In this paper, for an AVP system, we introduce technology to recognize a parking space using image sensors. The proposed technology is mainly divided into three parts. First, spatial analysis is carried out using a height map that is based on dense motion stereo. Second, modelling of road markings is conducted using a probability map with a new salient-line feature extractor. Finally, parking space recognition is based on a Bayesian classifier. The experimental results show an execution time of up to 10 ms and a recognition rate of over 99%. Also, the performance and properties of the proposed technology were evaluated with a variety of data. Our algorithms, which are part of the proposed technology, are expected to apply to various research areas regarding autonomous vehicles, such as map generation, road marking recognition, localization, and environment recognition.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.42 no.6
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• pp.43-54
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• 2005

This paper proposes a novel texture segmentation method using Bayesian image segmentation method and SOM(Self Organization feature Map). Multi-scale wavelet coefficients are used as the input of SOM, and likelihood and a posterior probability for observations are obtained from trained SOMs. Texture segmentation is performed by a posterior probability from trained SOMs and MAP(Maximum A Posterior) classification. And the result of texture segmentation is improved by context information. This proposed segmentation method shows better performance than segmentation method by HMT(Hidden Markov Tree) model. The texture segmentation results by SOM and multi-sclae Bayesian image segmentation technique called HMTseg also show better performance than by HMT and HMTseg.

• ETRI Journal
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• v.15 no.2
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• pp.1-9
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• 1993

Nitzberg has analyzed the detection performance of the clutter map constant false alarm rate (CFAR) detector using single pulse. In this paper, we extend the detection analysis to the clutter map CFAR detector that employs M-pulse noncoherent integration. Detection and false alarm probabilities for Swerling target models are derived. The analytical results show that the larger the number of integrated pulses M, the higher the detection probability. On the other hand, the analytical results for Swerling target models show that the detection performance of the completely decorrelated target signal is better than that of the completely correlated target.

• Proceedings of the KIEE Conference
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• 1995.11a
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• pp.146-148
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• 1995

A CFAR algorithm for weibull clutter is discussed. The Maximum a posteriori(MAP) estimator for two parameters(skewness and scale) of the weibull clutter is proposed, assuming the probability density function of skewness parameter is known. And proposed MAP estimator is compared with the Maximum likelihood(ML) estimator. Using this MAP estimator, we can design CFAR detector which is shown to have smaller CFAR loss than ML CFAR detector by the statistical simulation method.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.900-903
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• 1996

The objective of this paper is to make the weighted graph map for path planning using the ultrasonic sensor measurements that are acquired when an A.M.R (autonomous mobile robot) explores the unknown circumstance. First, The A.M.R navigates on unknown space with wall-following and gathers the sensor data from the environments. After this, we constructs the occupancy grid map by interpreting the gathered sensor data to occupancy probability. For the path planning of roadmap method, the weighted graph map is extracted from the occupancy grid map using morphological image processing and thinning algorithm. This methods is implemented on an A.M.R having a ultrasonic sensor.

• Bulletin of the Korean Mathematical Society
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• v.46 no.4
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• pp.673-689
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• 2009

We analyze $MAP_1,\;MAP_2$/G/1 finite queues with service scheduling function dependent upon queue lengths. The customers are classified into two types. The arrivals of customers are assumed to be the Markovian Arrival Processes (MAPs). The service order of customers in each buffer is determined by a service scheduling function dependent upon queue lengths. Methods of embedded Markov chain and supplementary variable give us information for queue length of two buffers. Finally, the performance measures such as loss probability and mean waiting time are derived. Some numerical examples also are given with applications in telecommunication networks.

• Proceedings of the KSRS Conference
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• 2006.03a
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• pp.36-40
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• 2006

The objective of the study is to develop a GIS-based flood map. Hydraulic model (HEC-RAS) is linked with hydrologic model (HEC-HMS) for flood map. Geospatial data processors, HEC-GeoHMS and HEC-GeoRAS, are used for operating HEC-HMS and HEC-RAS. HEC-HMS was calibrated and validated at the Hwa-Ong watershed. HEC-HMS was used for calculating runoff from the Hwa-Ong watershed which consisted of Nam-Yang, Ja-An, U-Eun river sub-watersheds, and HEC-RAS was applied and validated for river flow routing at the Hwa-Ong watershed. The simulated results from HEC-HMS and HEC-RAS were reasonably good compared with the observed data. HEC-RAS and HEC-HMS were applied to simulate flooding from probability rainfall at the Hwa-Ong watershed, and the simulated result was used to develop a flood map. Flood map developed in this study will be used for mitigating and predicting the flood damages.