• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.155-156
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• 2011

• The KIPS Transactions:PartB
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• v.12B no.3 s.99
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• pp.265-272
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• 2005

In this paper, we propose a technique which is speedily searching for correspondent points of two images using Voronoi-Distance, as an image registration method for feature based image mosaics. It extracts feature points in two images by the SUSAN corner detector, and then create not only the Voronoi Surface which has distance information among the feature points in the base image using a priority based Voronoi distance algorithm but also select the model area which has the maximum variance value of coordinates of the feature points in the model image. We propose a method for searching for the correspondent points in the Voronoi surface of the base image overlapped with the model area by use of the partitive search algorithm using queues. The feature of the method is that we can rapidly search for the correspondent points between adjacent images using the new Voronoi distance algorithm which has $O(width{\times}height{\times}logN)$ time complexity and the the partitive search algerian using queues which reduces the search range by a fourth at a time.

• ETRI Journal
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• v.10 no.3
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• pp.125-140
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• 1988

Computational geometry has wide applications in pattern recognition, image processing, VLSI design, and computer graphics. Voronoi diagrams in computational geometry possess many important properites which are related to other geometric structures of a set of point. In this pater the design of systolic algorithms for the static and the dynamic Voronoi diagrams is considered. The major motivation for developing the systolic architecture is for VLSI implementation. A new systematic transform technique for designing systolic arrays, in particular, for the problem in computational geometry has been proposed. Following this procedure, a type T systolic array architecture and associated systolic algorithms have been designed for constructing Voronoi diagrams. The functions of the cells in the array are also specified. The resulting systolic array achieves the maximal throughput with O(n) computational complexity.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.1
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• pp.130-134
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• 2012

In this paper, we propose a space partitioning technique for swarm robots by using the Centroidal Voronoi Tessellation. The proposed method consists of two parts such as space partition and collision avoidance. The space partition for searching a given space is carried out by a density function which is generated by some accidents. The collision avoidance is implemented by the potential field method. Finally, the numerical experiments show the effectiveness and feasibility of the proposed method.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 1999.06a
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• pp.69-76
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• 1999

This paper proposes a new region-oriented coding scheme of still images. The scheme first segments an image into homogeneous regions by making use of Voronoi diagrams. Then luminance components in each Voronoi region are encoded using a transform coding technique which employs the Schmidt's orthogonalization method to produce orthonormal basis-functions for arbitrarily shaped regions. In this technique, coding efficiency depends on the properties of initial vectors to be orthogonalized. Therefore we adaptively select a set of initial vectors as well as the order in which these vectors are orthogonalized. Simulation results indicate that the proposed coding scheme achieves higher coding performance with much less computation than the KLT-based scheme which we reported formerly.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.2
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• pp.127-133
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• 2014

This paper proposes a determination method of waypoints to maximize the survivability of a UAV. Voronoi diagram which is used for the initial selection of waypoint candidates is the most widely used path planning technique to avoid the threat as far as possible when the location and strength of the threat are given. But if threat strength is different each other and flight path is constrained along with straight lines, Voronoi diagram has limitations in real applications. In this study, the initial waypoints obtained from Voronoi diagram are optimized considering the shape of each threat. Here, a waypoint is optimized while adjacent waypoints are fixed. By repeating this localized optimization until whole waypoints are converged, computation time for finding the best waypoints is greatly reduced.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1892-1893
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• 2011

본 논문에서는 Centroidal Voronoi Tessellation을 이용하여 군집로봇의 협조탐색을 위한 공간분할기법을 제안한다. 탐색공간은 Centroidal Voronoi Tessellation을 이용하여 분할한다. 전역 경로 계획 및 군집 로봇 간의 충돌 회피는 포텐셜 필드를 이용한다. 탐색공간에 밀도 함수를 사용하여 공간분할의 유동성을 부여한다. 마지막으로, 군집로봇의 협조탐색의 가능성을 시뮬레이션을 통하여 확인한다.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1274-1279
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• 2003

In this paper, a new meshfree technique which improves the numerical integration accuracy is introduced. This new method called the Petrov-Galerkin natural element(PG-NE) is based on the Voronoi diagram and the Delaunay triangulation which is based on the same concept used for conventional natural element method called the Bubnov-Galerkin natural element(BG-NE). But, unlike BG-NE method, the test shape function is differently chosen from the trial shape function. The proposed technique ensures that the numerical integration error is remarkably reduced.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.174-179
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• 2003

Through the simultaneous localization and map building (SLAM) technique, a robot can create maps about its unknown environment while it continuously localizes its position. Grid maps and feature maps have been widely used for SLAM together with application of probability methods and POMDP (partially observed Markov decision process). But this approach based on grid maps suffers from enormous computational burden. Topological maps, however, have drawn more attention these days because they are compact, provide natural interfaces, and are easily applicable to path planning in comparison with grid maps. Some topological SLAM techniques like GVG (generalized Voronoi diagram) were introduced, but it enables the robot to decide only whether the current position is part of GVG branch or not in the GVG algorithm. In this paper, therefore, to overcome these problems, we present a method for updating a global topological map from the local topological maps. These local topological maps are created through a labeled Voronoi diagram algorithm from the local grid map built based on the sensor information at the current robot position. And the nodes of a local topological map can be utilized as the features of the environment because it is robust in light of visibility problem. The geometric information of the feature is applied to the extended Kalman filter and the SLAM in the indoor environment is accomplished. A series of simulations have been conducted using a two-wheeled mobile robot equipped with a laser scanner. It is shown that the proposed scheme can be applied relatively well.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.13 no.2
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• pp.141-159
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• 2009

In this article, we consider a weighted CVT-based reduced-order modelling for Burgers equation. Brief review of the CVT (centroidal Voronoi tessellation) approaches to reduced-order bases are provided. In CVT-reduced order modelling, we start with a snapshot set just as is done in a POD (Proper Orthogonal Decomposition)-based setting. So far, the CVT was researched with uniform density ($\rho$(y) = 1) to determine the basis elements for the approximatin subspaces. Here, we shall investigate the technique of CVT with nonuniform density as a procedure to determine the basis elements for the approximating subspaces. Some numerical experiments including comparison of two CVT (CVT-uniform and CVT-nonuniform)-based algorithm with numerical results obtained from FEM(finite element method) and POD-based algorithm are reported.