• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.4
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• pp.173-180
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• 2006

A key component of autonomous navigation of intelligent home robot is localization and map building with recognized features from the environment. To validate this, accurate measurement of relative location between robot and features is essential. In this paper, we proposed relative localization algorithm based on 3D reconstruction of scale invariant features of two images which are captured from two parallel cameras. We captured two images from parallel cameras which are attached in front of robot and detect scale invariant features in each image using SIFT(scale invariant feature transform). Then, we performed matching for the two image's feature points and got the relative location using 3D reconstruction for the matched points. Stereo camera needs high precision of two camera's extrinsic and matching pixels in two camera image. Because we used two cameras which are different from stereo camera and scale invariant feature point and it's easy to setup the extrinsic parameter. Furthermore, 3D reconstruction does not need any other sensor. And the results can be simultaneously used by obstacle avoidance, map building and localization. We set 20cm the distance between two camera and capture the 3frames per second. The experimental results show :t6cm maximum error in the range of less than 2m and ${\pm}15cm$ maximum error in the range of between 2m and 4m.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.8
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• pp.692-698
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• 2015

This paper represents a trajectory design and analysis technique which uses invariant manifolds of the circular restricted three body problem. Instead of the classical patched conic method based on 2-body problem, the equation of motion and dynamical behavior of spacecraft in the circular restricted 3-body problem are introduced, and the characteristics of Lyapunov orbits near libration points and their invariant manifolds are covered in this paper. The trajectories from/to Lyapunov orbits are numerically generated with invariant manifolds in the Earth-moon system. The trajectories in the Sun-Jupiter system are also analyzed with various initial conditions in the boundary surface. These methods can be effectively applied to interplanetary trajectory designs.

• Journal of Korea Port Economic Association
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• v.23 no.2
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• pp.109-120
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• 2007

The purpose of this paper is to verify the two problems(normalization for the different inputs and outputs data, translation invariant for the negative data) which will be occurred in measuring the seaport DEA(data envelopment analysis) efficiency. The main result is as follow: Normalization and translation invariant in the BCC model for measuring the seaport efficiency by using 26 Korean seaport data in 1995 with two inputs(berthing capacity, cargo handling capacity) and three outputs(import cargo throughput, export cargo throughput, number of ship calls) was verified. The main policy implication of this paper is that the port management authority should collect the more specific data and publish these data on the inputs and outputs in the seaports with consideration of negative(ex. accident numbers in each seaport) and positive value for analyzing the efficiency by the scholars, because normalization and translation invariant in the data was verified.

• The Journal of the Acoustical Society of Korea
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• v.25 no.6
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• pp.305-311
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• 2006

In this paper the performance of a array invariant method is evaluated for source-range estimation in horizontally stratified shallow water ocean waveguide. The method has advantage of little computationally effort over existing source-localization methods. such as matched field processing or the waveguide invariant and array gain is fully exploited. And. no knowledge of the environment is required except that the received field should not be dominated by purely interference This simple and instantaneous method is applied to simulated acoustic propagation filed for testing range estimation performance. The result of range estimation according to the SNR for the underwater impulsive source with broadband spectrum is demonstrated. The spatial smoothing method is applied to suppress the effect of mutipath propagation by high frequency signal. The result of performance test for range estimation shows that the error rate is within 20% at the SNR above 10dB.

• Communications of the Korean Mathematical Society
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• v.27 no.4
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• pp.815-834
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• 2012

In this paper, we characterize surgery presentations for $\mathbb{Z}$-homology 3-spheres and $\mathbb{Z}/2\mathbb{Z}$-homology 3-spheres obtained from $S^3$ by Dehn surgery along a knot or link which admits an even net diagram and show that the Casson invariant for $\mathbb{Z}$-homology spheres and the ${\mu}$-invariant for $\mathbb{Z}/2\mathbb{Z}$-homology spheres can be directly read from the net diagram. We also construct oriented 4-manifolds bounding such homology spheres and find their some properties.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.7
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• pp.577-582
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• 2013

In this paper Legendre wavelets are used to approximate the solutions of linear time-invariant system. The Legendre wavelet and its integral operational matrix are presented and an efficient algorithm to solve the Sylvester matrix equation is proposed. The algorithm is based on the decomposition of the Sylvester matrix equation and the preorder traversal algorithm. Using the special structure of the Legendre wavelet's integral operational matrix, the full order Sylvester matrix equation can be solved in terms of the solutions of pure algebraic matrix equations, which reduce the computation time remarkably. Finally a numerical example is illustrated to demonstrate the validity of the proposed algorithm.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.49 no.1
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• pp.26-30
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• 2012

In this paper, we propose a signal generation method of rectangular QAM for rotationally invariant I/Q TCM. The proposed method consists of only digital logic gates without look-up table so that we can implement the system compactly. Our scheme can be applied to every rectangular QAM with the level higher than 64.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1237-1239
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• 1996

3-D object recognition and restoration independent of the translation and rotation using an ultrasonic sensor array, neural networks and invariant moment are presented. Using invariant moment vectors on the acquired $16{\times}8$ pixel data, 3-D objects can be classified by SOFM(Self Organizing Feature Map) neural networks. Invariant moment vectors kept constant independent of the translation and rotation. The experiment result shows the suggested method can be applied to the environment recognition.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.9
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• pp.3177-3195
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• 2014

In many moving object detection problems of an aerial video, accurate and robust stabilization is of critical importance. In this paper, a novel accurate image alignment algorithm for aerial electronic image stabilization (EIS) is described. The feature points are first selected using optimal derivative filters based Harris detector, which can improve differentiation accuracy and obtain the precise coordinates of feature points. Then we choose the Delaunay Triangulation edges to find the matching pairs between feature points in overlapping images. The most "useful" matching points that belong to the background are used to find the global transformation parameters using the projective invariant. Finally, intentional motion of the camera is accumulated for correction by Sage-Husa adaptive filtering. Experiment results illustrate that the proposed algorithm is applied to the aerial captured video sequences with various dynamic scenes for performance demonstrations.

• The KIPS Transactions:PartB
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• v.18B no.2
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• pp.51-56
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• 2011

Algorithms for intrinsic images reduce color differences in RGB images caused by the temperature of black-body radiators. Based on the reference light and detecting single invariant direction, these algorithms are weak in real images which can have multiple invariant directions when the scene illuminant is a colored illuminant. To solve these problems, this paper proposes a method of acquiring an intrinsic image by omnidirectional projection of an ROI and a translation of white patch in the ${\chi}$-chromaticity space. Because it is not easy to analyze an image in the three-dimensional RGB space, the ${\chi}$-chromaticity is also employed without the brightness factor in this paper. After the effect of the colored illuminant is decreased by a translation of white patch, an invariant direction is detected by omnidirectional projection of an ROI in this chromaticity space. In case the RGB image has multiple invariant directions, only one ROI is selected with the bin, which has the highest frequency in 3D histogram. And then the two operations, projection and inverse transformation, make intrinsic image acquired. In the experiments, test images were four datasets presented by Ebner and evaluation methods was the follows: standard deviation of the invariant direction, the constancy measure, the color space measure and the color constancy measure. The experimental results showed that the proposed method had lower standard deviation than the entropy, that its performance was two times higher than the compared algorithm.