• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.20 no.9
• /
• pp.45-53
• /
• 2006

This paper proposes a method for an effective intelligent route decision for automatic moving robots(AMR) using a 2D spatial map of a stereo camera system. In this method, information about depth and disparity map are detected in the inputting images of a parallel stereo camera. The distance between the automatic moving robot and the obstacle is detected, and a 2D spatial map is obtained from the location coordinates. Then the relative distances between the obstacle and other objects are deduced. The robot move automatically by effective and intelligent route decision using the obtained 2D spatial map. From experiments on robot driving with 240 frames of stereo images, it was found that the error ratio of the calculated distance to the measured distance between objects was very low, 1.52[%] on average.

• International Journal of Internet, Broadcasting and Communication
• /
• v.8 no.4
• /
• pp.54-57
• /
• 2016

In this paper, the method for an effective and intelligent route decision of the automatic ground vehicle (AGV) using a 2D spatial map of the stereo camera system is proposed. The depth information and disparity map are detected in the inputting images of a parallel stereo camera. The distance between the automatic moving robot and the obstacle detected and the 2D spatial map obtained from the location coordinates, and then the relative distance between the obstacle and the other objects obtained from them. The AGV moves automatically by effective and intelligent route decision using the obtained 2D spatial map. From some experiments on robot driving with 480 frames of the stereo images, it is analyzed that error ratio between the calculated and measured values of the distance between the objects is found to be very low value of 1.57% on average, respectably.

• Molecules and Cells
• /
• v.43 no.7
• /
• pp.591-599
• /
• 2020

Complex cell-to-cell communication underlies the basic processes essential for homeostasis in the given tissue architecture. Obtaining quantitative gene-expression of cells in their native context has significantly advanced through single-cell RNA sequencing technologies along with mechanical and enzymatic tissue manipulation. This approach, however, is largely reliant on the physical dissociation of individual cells from the tissue, thus, resulting in a library with unaccounted positional information. To overcome this, positional information can be obtained by integrating imaging and positional barcoding. Collectively, spatial transcriptomics strategies provide tissue architecture-dependent as well as position-dependent cellular functions. This review discusses the current technologies for spatial transcriptomics ranging from the methods combining mechanical dissociation and single-cell RNA sequencing to computational spatial re-mapping.

• Proceedings of the KSRS Conference
• /
• 2002.10a
• /
• pp.169-174
• /
• 2002

In this paper, we suggest a new spatial information system called video GIS where video is used for spatial data construction and is integrated with map. We develop a prototype system of video GIS and apply it to roadside facility management. The main functions supported by the suggested system are data collection, coordinate calculation and conversion, data construction, analysis, searching, and browsing. The stereo images and corresponding position data are collected by a vehicle named 4S-Van that has GPS, IMU, and cameras. The 3-D coordinates of the objects in the images, such as road sign, signal lamp, and building, can be calculated and constructed from the collected data. The spatial objects are displayed on both image and map, and can be searched and browsed, which enables visual and realistic browsing and management of spatial objects. Compared to conventional field survey used in roadside facility management, the method enables faster, easier, and more efficient construction of spatial data. The suggested video GIS can be applied not only to roadside facility management but also to many similar projects of central or local governments that are related to GIS.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.49 no.9
• /
• pp.347-352
• /
• 2012

In this paper, an 2D spatial-map construction for workers identification and avoidance of AGV using the detection scheme of the spatial coordinates based on stereo camera is proposed. In the proposed system, face area of a moving person is detected from a left image among the stereo image pairs by using the YCbCr color model and its center coordinates are computed by using the centroid method and then using these data, the stereo camera embedded on the mobile robot can be controlled for tracking the moving target in real-time. Moreover, using the disparity map obtained from the left and right images captured by the tracking-controlled stereo camera system and the perspective transformation between a 3-D scene and an image plane, depth map can be detected. From some experiments on AGV driving with 240 frames of the stereo images, it is analyzed that error ratio between the calculated and measured values of the worker's width is found to be very low value of 2.19% and 1.52% on average.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.31 no.1C
• /
• pp.26-35
• /
• 2006

In this paper, an automatic mobile robot system for a intelligent path planning using the detection scheme of the spatial coordinates based on stereo camera is proposed. In the proposed system, face area of a moving person is detected from a left image among the stereo image pairs by using the YCbCr color model and its center coordinates are computed by using the centroid method and then using these data, the stereo camera embedded on the mobile robot can be controlled for tracking the moving target in real-time. Moreover, using the disparity map obtained from the left and right images captured by the tracking-controlled stereo camera system and the perspective transformation between a 3-D scene and an image plane, depth information can be detected. Finally, based-on the analysis of these calculated coordinates, a mobile robot system is derived as a intelligent path planning and a estimation. From some experiments on robot driving with 240 frames of the stereo images, it is analyzed that error ratio between the calculated and measured values of the distance between the mobile robot and the objects, and relative distance between the other objects is found to be very low value of $2.19\%$ and $1.52\%$ on average, respectably.

• Journal of Korean Society for Geospatial Information Science
• /
• v.5 no.2 s.10
• /
• pp.55-63
• /
• 1997

Precision digital data capture and spatial analysis system to cultural properties play important roles in preserving the existing properties. This study presents the acquisition oi digital data in geometrical context and spatial analysis for more effective management to cultural properties. Established in the same coordinates system, Precision 3D measurements and image analysis were peformed. In addition, geometrical analysis, and 3D monitoring to Songsanri Royals Tombs in Gongju were carried out in generating basedata for conservation plan.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.29 no.8 s.239
• /
• pp.1123-1131
• /
• 2005

In this paper, a formulation for a spatial sliding joint, which a general multibody can move along a very flexible cable, is derived using absolute nodal coordinates and non-generalized coordinate. The large deformable motion of a spatial cable is presented using absolute nodal coordinate formulation, which is based on the finite element procedures and the general continuum mechanics theory to represent the elastic forces. And the non-generalized coordinate, which is neither related to the inertia forces nor external forces, is used to describe an arbitrary position along the centerline of a very flexible cable. In the constraint equation for the sliding joint, since three constraint equations are imposed and one non-generalized coordinate is introduced, one constraint equation is systematically eliminated. Therefore, there are two independent Lagrange multipliers in the final system equations of motion associated with the sliding joint. The development of this sliding joint is important to analyze many mechanical systems such as pulley systems and pantograph/catenary systems for high speed-trains.

• Journal of Korea Spatial Information System Society
• /
• v.5 no.2 s.10
• /
• pp.83-89
• /
• 2003

In this study, a new coded targets that being suitable for a Mobile Mapping System and method of automated target recognition and coordinates determination of center point was developed, the purpose of a Mobile Mapping System is acquisition and logging data around the road for the camera calibration and the Exterior orientation of system, target installed previously and CCD cameras captured the image, target center point was observed by hands, but using coded target, target recognition and center point observation process will be automated effectively, in addition we keeped up the consistency of photo coordinates observation.

• Journal of Cadastre & Land InformatiX
• /
• v.46 no.2
• /
• pp.169-181
• /
• 2016

The address system in Korea was changed to the road-based system in 2014, but the current address coordinates are still largely based on the old, parcel-based system. Compared to the parcel-based address system that defines the center of a parcel as its coordinates, the road-based system locates the coordinates at a certain distance away from the road on which the parcel fronts. The difference in coordinates between these two systems is small, but it can be crucial for micro-level modelling. In order to assess the impact of the discrepancy between the two address systems, this study measured the degree of air pollution exposure at two different locations, the road-based address coordinates and the parcel-based address coordinates, for each of 252 buildings in Yeongdeungpo-gu, Seoul. The air pollution values were estimated using a microscopic air pollution dispersion model, CALINE4, and t-tests and F-tests were conducted to evaluate statistical significance on the observed difference. The results showed a considerable difference in the level of air pollution exposure between the two address systems, suggesting that the on-going use of the parcel-based address coordinates could cause potentially significant errors in micro-level analysis.