• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.1679-1684
• /
• 2004

This paper introduces a novel approach that can provide the three dimensional information on the movement of a spreader by using two CCD cameras and a laser distance sensor, which enables an ALS (Automatic Landing System) to be used for yard cranes at a harbor. So far a kind of 2D Laser scanner sensor or laser distance measuring units are used as corner detectors for the geometrical matching between the spreader and a container, which provides only 2D information which is not enough for an accurate and fast ALS system required presently. In addition to this deficiency in performance, the price for the system is too high to be adopted widely for the ALS. Therefore, to overcome these defects, a novel method to acquire the three dimensional information for the movement of a spreader including skew and sway angles is proposed using two CCD cameras and a laser distance sensor. To show the efficiency of proposed algorithm, real experiments are performed to show the accuracy improvement in distance measurement by fusing the sensory information of CCD camera and laser distance sensor.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
• /
• 제14권7호
• /
• pp.723-727
• /
• 2008

2D 기반의 얼굴 분석 및 처리 알고리즘은 포즈 및 조명에 강인하지 못한 문제점들이 존재한다. 이러한 이유로 과거 3D 기반의 얼굴 분석 및 처리 분야에 많은 연구를 진행하려 하였지만, 컴퓨팅 파워의 한계와 고속 스캐너의 부재 등으로 많은 연구가 진행되지 못하였다. 하지만 오늘날 하루가 다르게 빨라지고 있는 컴퓨터의 성능으로 인해 주춤했던 연구들이 다시 진행되고 있다. 이에 본 논문에서는 널리 알려진 선형 모델 기반의 3D morphable face model을 제작하고 성능을 높이는 방법에 대한 구현 및 dense correspondence 문제를 해결하기 위한 방법을 제안한다.

• 한국정밀공학회지
• /
• 제30권2호
• /
• pp.177-184
• /
• 2013

This paper proposes an enhanced Simultaneous Localization and Mapping (SLAM) algorithm based on matching laser image and Extended Kalman Filter (EKF). In general, laser information is one of the most efficient data for localization of mobile robots and is more accurate than encoder data. For localization of a mobile robot, moving distance information of a robot is often obtained by encoders and distance information from the robot to landmarks is estimated by various sensors. Though encoder has high resolution, it is difficult to estimate current position of a robot precisely because of encoder error caused by slip and backlash of wheels. In this paper, the position and angle of the robot are estimated by comparing laser images obtained from laser scanner with high accuracy. In addition, Speeded Up Robust Features (SURF) is used for extracting feature points at previous laser image and current laser image by comparing feature points. As a result, the moving distance and heading angle are obtained based on information of available points. The experimental results using the proposed laser slam algorithm show effectiveness for the SLAM of robot.

• 한국정보보호학회:학술대회논문집
• /
• 한국정보보호학회 2001년도 종합학술발표회논문집
• /
• pp.453-458
• /
• 2001

악의의 침입자로부터 시스템을 보호하기 위한 첫 번째 단계는 시스템의 취약점을 분석하는 일이다. 기존의 시스템 취약점 분석 방법은 주로 네트워크 기반 취약점 점검 도구에 의존해 왔다. 하지만, 네트워크 기반 취약점 점검 도구는 대상 시스템의 제한된 정보만을 이용하여 취약점을 점검하기 때문에 시스템의 모든 취약점에 대한 검사가 불가능하다는 단점이 있다. 호스트 기반 취약점 점검 도구를 사용하면 시스템 내부의 모든 정보를 이용할 수 있지만, 시스템의 OS 종류나 버전에 따라 각기 다른 호스트 기반 취약점 점검 도구를 개발해야 한다는 단점이 있다. 또한, 호스트 기반 취약점 점검 도구들은 많은 호스트들을 동시에 점검하기 힘들다는 점이 문제로 지적되고 있다. 본 논문에서는 호스트 기반 취약점 점검 도구를 에이전트로 구현하여 대상 시스템에 설치하고, 하나의 관리 프로그램에서 여러 에이전트들을 관리함으로써 동시에 많은 호스트의 취약점들을 관리할 수 있는 모델인 ISMAEL을 제시한다. 또한 ISMAEL은 OS에 맞는 여러 호스트 기반 취약점 점검 도구들을 개발해야 하는 문제를 해결하기 위해 OS에 독립인 부분만을 뽑아내고, 그 외 OS에 종속된 부분은 Library 형태로 제공하여, OS에 독립인 부분에서 이 Library를 참조하여 특정 취약점 점검 코드를 자동 생성하고 이를 실행하여 취약성 여부를 판단할 수 있는 구조를 채택하고 있다.

• 한국항해항만학회지
• /
• 제28권4호
• /
• pp.323-331
• /
• 2004

This paper introduces a novel approach that can provide the three dimensional information about the movement of a spreader by using two CCD cameras and a laser distance measuring unit in order to derive ALS (Automatic Landing System) in the crane used at a harbor. So far a kind of 2D Laser scanner sensor or laser distance measuring units are used as comer detectors for the geometrical matching between the spreader and a container. Such systems provide only two dimensional information which is not enough for an accurate and fast ALS. In addition to this deficiency in performance, the price of the system is too high to adapt to the ALS. Therefore, to overcome these defects, we proposed a novel method to acquire the three dimensional spreader information using two CCD cameras and a laser distance measuring unit. To show the efficiency of proposed method, real experiments are performed to show the improvement of accuracy in distance measurement by fusing the sensory information of the CCD cameras and a laser distance measuring unit.

• 대한안전경영과학회지
• /
• 제10권4호
• /
• pp.189-198
• /
• 2008

At present, companies write daily work record or use bar-code in order to collect distribution flow data in real time. However, it needs additional works to check the record or read the bar-code with a scanner. In this case, human error could decrease accuracy of data and it would cause problems in reliability. To solve this problem, RFID (Radio Frequency Identification) is introduced in many automatic recognition sector recently. RFID is a technology that identification data is inserted into micro-mini IC chip and recognize, trace, and manage object, animal, or person using wireless frequency. This is being emerged as the core technology in future ubiquitous environment. This study is intended to suggest RFID application method in franchise business. Traceability and visibility of individual product are supplied based on EPCglobal network. It includes DW system which supplies various assessment data about product in supply chain, financial transaction system which is based on product transaction and position information, and RFID middleware which refines and divides product data from RFID tag. With the suggested application methods, individual product's profile data are supplied in real time and it would boost reliability to customer and make effective cooperation with existing operation systems (SCM, CRM, and e-Business) possible.

• 한국정보과학회논문지:시스템및이론
• /
• 제30권7_8호
• /
• pp.397-407
• /
• 2003

인간의 신체에 대한 정확한 3차원 표면모델을 추출할 수 있는 기술에 대한 요구와 관심이 최근 멀티미디어 등 다양한 응용 분야에서 증폭되고 있다. 본 논문에서는 인체의 ,3차원 모델을 효율적으로 추출하기 위한, 3차원 스캐너를 소개하였으며, 취득된 3차원 정보로부터 등고선(Wire-frame Contour)을 안정적으로 생성하는 반자동 등고선 생성 방법을 제안하였다. 또한 생성된 등고선으로부터 3차원 표면모델을 추출하기 위한 표면 삼각분할 알고리즘을 제안하였다. 실험을 통해 개발된 시스템과 제안된 방법이 안정적이고 효과적으로 인체의, 3차원 표면모델을 생성하는 것을 확인할 수 있었다.

• Journal of Mechanical Science and Technology
• /
• 제19권12호
• /
• pp.2213-2223
• /
• 2005

In order to reconstruct a full 3D human model in reverse engineering (RE), a 3D scanner needs to be placed arbitrarily around the target model to capture all part of the scanned surface. Then, acquired multiple scans must be registered and merged since each scanned data set taken from different position is just given in its own local co-ordinate system. The goal of the registration is to create a single model by aligning all individual scans. It usually consists of two sub-steps: rough and fine registration. The fine registration process can only be performed after an initial position is approximated through the rough registration. Hence an automated rough registration process is crucial to realize a completely automatic RE system. In this paper an automated rough registration method for aligning multiple scans of complex human face is presented. The proposed method automatically aligns the meshes of different scans with the information of features that are extracted from the estimated principal curvatures of triangular meshes of the human face. Then the roughly aligned scanned data sets are further precisely enhanced with a fine registration step with the recently popular Iterative Closest Point (ICP) algorithm. Some typical examples are presented and discussed to validate the proposed system.

• 대한원격탐사학회지
• /
• 제21권3호
• /
• pp.229-242
• /
• 2005

Photogrammetry is a current method of GIS data acquisition. However, as a matter of fact, a large manpower and expenditure for making detailed 3D spatial information is required especially in urban areas where various buildings exist. There are no photogrammetric systems which can automate a process of spatial information acquisition completely. On the other hand, LiDAR has high potential of automating 3D spatial data acquisition because it can directly measure 3D coordinates of objects, but it is rather difficult to recognize the object with only LiDAR data, for its low resolution at this moment. With this background, we believe that it is very advantageous to integrate LiDAR data and stereo CCD images for more efficient and automated acquisition of the 3D spatial data with higher resolution. In this research, the automatic urban object recognition methodology was proposed by integrating ultra highresolution stereo images and LiDAR data. Moreover, a method to enable more reliable and detailed stereo matching method for CCD images was examined by using LiDAR data as an initial 3D data to determine the search range and to detect possibility of occlusions. Finally, intellectual DSMs, which were identified urban features with high resolution, were generated with high speed processing.

• Applied Microscopy
• /
• 제52권
• /
• pp.1.1-1.8
• /
• 2022

As semiconductor device architecture develops, from planar field-effect transistors (FET) to FinFET and gate-all-around (GAA), there is an increased need to measure 3D structure sidewalls precisely. Here, we present a 3-Dimensional Atomic Force Microscope (3D-AFM), a powerful 3D metrology tool to measure the sidewall roughness (SWR) of vertical and undercut structures. First, we measured three different dies repeatedly to calculate reproducibility in die level. Reproducible results were derived with a relative standard deviation under 2%. Second, we measured 13 different dies, including the center and edge of the wafer, to analyze SWR distribution in wafer level and reliable results were measured. All analysis was performed using a novel algorithm, including auto fattening, sidewall detection, and SWR calculation. In addition, SWR automatic analysis software was implemented to reduce analysis time and to provide standard analysis. The results suggest that our 3D-AFM, based on the tilted Z scanner, will enable an advanced methodology for automated 3D measurement and analysis.