• Journal of Internet of Things and Convergence
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• v.10 no.5
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• pp.19-26
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• 2024

This study presents and verifies an easy, fast, and relatively cost-effective method for 6D pose estimation using industrial robots for bin picking in the manufacturing sector. Specifically, it details a method involving the integration of industrial robots with 2D cameras to ① acquire multi-view images of objects and collect training data, ② select variables from the collected data and implement a linear regression model, and ③ apply the trained model to estimate, verify, and evaluate the 6D pose of objects on industrial robots. The proposed data collection method and implemented linear regression model demonstrated statistically significant results. The estimated 6D poses were validated against ground true values and evaluated in their application to industrial robots, confirming their validity. By using feature point information extracted from images instead of direct image inputs as inputs to the regression model, the data size was reduced, enabling direct embedding on the robot. This research approaches the problem of spatial coordinates in 3D from a data analysis perspective, rather than from geometrical or computer vision perspectives.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.33 no.6
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• pp.2593-2600
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• 2013

The main purpose of this study is to carry out the performance evaluation of Ultra-light Fixed Wing UAV(Unmanned Aerial Vehicle) photogrammetry which is being, currently, applied for various fields such as cultural assets, accident survey, military reconnaissance work, and disaster management at home and abroad. Firstly, RMSE estimation of Aerial Triangulation (AT) are within approximately 0.10 cm in position (X, Y). And through the comparison of parcel's boundary points coordinates by terrestrial surveying and by UAV photogrammetry, the analysis shows that RMSE are shifted approximately 0.174~0.205 m in X-direction, 0.294~0.298 m in Y-direction respectively. Lastly, parcel's area by orthophoto of UAV photogrammetry and by that of cadastre register has been shown the difference by 0.118 m2. The results presented in this study is just one case study of orthophoto accuracy assessment of Ultra-light fixed wing UAV photogrammetry, hereafter various researches such as AT, direct-georeferencing, flight planning, practical applications, etc. should be necessary continuously.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.6
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• pp.525-533
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• 2019

There are two feature collection methods in digital mapping using the UAV (Unmanned Aerial Vehicle) Photogrammetry: vectorization and stereo plotting. In vectorization, planar information is extracted from orthomosaics and elevation value obtained from a DSM (Digital Surface Model) or a DEM (Digital Elevation Model). However, the exact determination of the positional accuracy of 3D features such as ground facilities and buildings is very ambiguous, because the accuracy of vectorizing results has been mainly analyzed using only check points placed on the ground. Thus, this study aims to review the possibility of 3D spatial information acquisition and digital map production of vectorization by analyzing the corner point coordinates of different layers as well as check points. To this end, images were taken by a Phantom 4 (DJI) with 3.6 cm of GSD (Ground Sample Distance) at altitude of 90 m. The outcomes indicate that the horizontal RMSE (Root Mean Square Error) of vectorization method is 0.045 cm, which was calculated from residuals at check point compared with those of the field survey results. It is therefore possible to produce a digital topographic (plane) map of 1:1,000 scale using ortho images. On the other hand, the three-dimensional accuracy of vectorization was 0.068~0.162 m in horizontal and 0.090~1.840 m in vertical RMSE. It is thus difficult to obtain 3D spatial information and 1:1,000 digital map production by using vectorization due to a large error in elevation.

• Spatial Information Research
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• v.22 no.1
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• pp.75-84
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• 2014

Power lines are one of the main obstacles causing an aircraft crash and thus their realtime detection is significantly important during flight. To avoid such flight obstacles, the use of LIDAR has been recently increasing thanks to its advantages that it is less sensitive to weather conditions and can operate in day and night. In this study, we suggest a fast method to detect power lines from LIDAR data for flight obstacle avoidance. The proposed method first extracts non-ground points by eliminating the points reflected from ground surfaces using a filtering process. Second, we calculate the eigenvalues for the covariance matrix from the coordinates of the generated non-ground points and obtain the ratio of eigenvalues. Based on the ratio of eigenvalues, we can classify the points on a linear structure. Finally, among them, we select the points forming horizontally long straight as power-line points. To verify the algorithm, we used both real and simulated data as the input data. From the experimental results, it is shown that the average detection rate and time are 80% and 0.2 second, respectively. If we would improve the method based on the experiment results from the various flight scenario, it will be effectively utilized for a flight obstacle avoidance system.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.5
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• pp.545-553
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• 2009

Digital Elevation Models (DEM) is widely used in establishing the topographic profile in nation spatial information. Aerial Light Detection And Ranging (LiDAR) system is one of the well-known means to produce DEM. The system has fast data acquisition procedures and less weather-dependent restrictions compared to photogrammetric approaches. In this regards, LiDAR has been widely utilized and accepted in the process of nation spatial information generation due to its sufficient positional accuracy. However, the investigation of the accuracy of aerial LiDAR data over the area of forestation with various kinds of vegetations has been barely implemented in Korea. Hence, this research focuses on the investigation of the accuracy of aerial LiDAR data over the area of forestation and the evaluation of the acquired accuracy according to the characteristics of the vegetations. The study areas include land with shrubs and its adjacent forest area with mixed tree species. The spots for the investigation have been selected to be well-distributed over the whole study areas and their coordinates are surveyed by Global Positioning Systems (GPS). Then, the surveyed information and aerial LiDAR data have been compared with each other and the result accuracy has been evaluated. Conclusively, it is recommended that LiDAR data collection to be conducted after defoliation period, especially over the areas with broadleaf trees due to the possibility of significant outliers.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.2
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• pp.125-134
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• 2012

In this paper, we propose a method to analyze M:N corresponding relations in semantic matching, especially focusing on feature class matching. Similarities between any class pairs are measured by spatial objects which coexist in the class pairs, and corresponding classes are obtained by clustering with these pairwise similarities. We applied a graph embedding method, which constructs a global configuration of each class in a low-dimensional Euclidean space while preserving the above pairwise similarities, so that the distances between the embedded classes are proportional to the overall degree of similarity on the edge paths in the graph. Thus, the clustering problem could be solved by employing a general clustering algorithm with the embedded coordinates. We applied the proposed method to polygon object layers in a topographic map and land parcel categories in a cadastral map of Suwon area and evaluated the results. F-measures of the detected class pairs were analyzed to validate the results. And some class pairs which would not detected by analysis on nominal class names were detected by the proposed method.

• Economic and Environmental Geology
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• v.48 no.6
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• pp.537-543
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• 2015

In Korea, the use of world geodetic system(WGS) has been mandated in year 2010. Accordingly, the national geographic information institute(NGIS) provides the digital maps according to the WGS. Nevertheless, most of the digital geological maps are still based on the Tokyo Datum(TD). Therefore, users should conduct 2D/3D geological spatial analysis after converting the coordinates of digital geological maps to WGS. The conversion process is often tedious and troublesome for certain users. Therefore, in this study, the method to transform coordinate from TD to WGS using ArcToolbox is introduced for users not familiar with the process. For a better appreciation, the Chungju and Hwanggang-ri digital sheets of 1:50,000 scale was chosen as an example. Here, Chungju and Hwanggang-ri sheets were defined based on the TD-central origin and TD-east origin, respectively. The two sheets were merged after the transformation of TD-east origin of Hwanggang-ri to the TD-central origin, and eventually transformed to WGS-central origin. The merged map was found to match exactly with the digital map(Daeso 367041). The problem of coordinate determination in previous digital geological maps was solved effectively. The proposed method is believed to be helpful to 2D/3D geological spatial analysis of various geological thematic maps.

• Journal of Korean Society for Geospatial Information Science
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• v.1 no.2 s.2
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• pp.195-206
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• 1993

As the first step in developing the urban information system it is very important to identify the location of the street, and the feature of objects on it Also it is necessary to understand the relationship between objects concerned. In order to manage these information efficiently, the road information should be well organized and standardized for digital data. Because the road is the base place under which most urban utilities are buried. However, the present real situation is that even if we have unique numbers authorized by law for some parts of the road it is too ambiguous to figure out the spatial location of the specific area because the assigned area is so large and incoherent. Therefore, the purpose of this study is to propose a road location identication scheme, to apply this scheme at Kangnam-ku Seoul, and finally to propose the guideline in developing the road management information system in Korea. The road identification scheme developed in this study are as follows: (1) The road is defined as a fixed factor, and was given the identification number which repressents the funtion, relationship, and direction of the road without the road section and absolute coordinates. (2) The parcel identification nutter was given to each route to understand it possible to understand the location of the road itself and surroundings. (3) To update the md information using the scheme developed in this study relative coordinate method(Dynamic Segmentation) based on the road centerline was applied.

• Journal of Cadastre & Land InformatiX
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• v.51 no.1
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• pp.111-124
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• 2021

Recently, Interest in the restoration and 3D reconstruction of cultural properties due to the fire of Notre Dame Cathedral on April 15, 2019 has been focused once again after the 2008 Sungnyemun fire incident in South Korea. In particular, research to restore and reconstruct the actual measurement of cultural properties using LiDAR(Light Detection and ranging) and conventional surveying, which were previously used, using various 3D reconstruction technologies, is being actively conducted. This study acquires data using unmanned aerial imagery of UAV(Unmanned Aerial Vehicle), which has recently established itself as a core technology in the era of the 4th industrial revolution, and the existing CRP(Closed Range Photogrammetry) and terrestrial LiDAR scanning for the Recumbent Buddha of Unju Temple. Then, the 3D reconstruction was performed with three fusion models based on SfM(Structure-from-Motion), and the reproducibility and accuracy of the models were compared and analyzed. In addition, using the best fusion model among the three models, the relationship with the Polar Star(Polaris) was confirmed based on the real world coordinates of the Recumbent Buddha, which contains the astronomical history of Buddhism in the early 11th century Goryeo Dynasty. Through this study, not only the simple external 3D reconstruction of cultural properties, but also the method of reconstructing the historical evidence according to the type and shape of the cultural properties was sought by confirming the historical evidence of the cultural properties in terms of spatial information.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.38 no.6
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• pp.511-519
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• 2020

For camera calibration, a checkerboard is generally used to determine the principal point, focal length, and lens distortions. The checkerboard has a planar and three-dimensional shape, and camera calibration parameters are affected by the size of the checkerboard, the placement of the target, and the number of target points. In this study, the accuracies of the types of checkerboards were compared using checkpoints for stereo camera calibration, and the purpose of this study was to propose the best performance checkerboard. The checkerboard with large flat shape showed comparatively high accuracy through comparison with the check points. However, due to the size of the checkerboard, it was inconvenient to move and rotate, and there was a disadvantage in that it was difficult to shoot so that the target points could all appear in the stereo camera. The checkerboard, which was manufactured in a small size in a flat shape, was easy to move and rotate but had the lowest three-dimensional accuracy. The checkerboard with targets with height values had the hassle of having to determine the three-dimensional coordinates of the target points by using observation equipment for camera calibration, but it was small in size, convenient to move and rotate, and showed the highest three-dimensional accuracy.