• Journal of the Institute of Electronics Engineers of Korea CI
• /
• v.38 no.2
• /
• pp.1-8
• /
• 2001

In this paper, we propose an algorithm which estimates the displacements and velocities of objects in the soccer field from the soccer image sequences. Assuming the time interval of an object movement is given, we transform the object positions into those in the soccer field model and compute the distance and the velocity. When four corresponding pairs of the feature points, such as the crossing points of the lines in the soccer field, exist and three of them are not on a line, we transform the object positions in the soccer image into those in the soccer field by using the perspective displacement field model. In addition, when the soccer image has less than four feature points, we first transform the object positions into those in the image which has more than four feature points, and then transform the positions into those in the soccer field again. To find the coordinate transformation between two images, we estimate the panning and zooming for consecutive images in the sequence. In the experimental results, we quantitatively evaluated the estimation accuracy by applying our algorithm to the synthetic. soccer image sequences generated by graphic tools, and applied it to the real soccer image sequences for broadcasting to show its usefulness.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.51 no.3
• /
• pp.164-173
• /
• 2014

In underwater robotics, vision would be a key element for recognition in underwater environments. However, due to turbidity an underwater optical camera is rarely available. An underwater imaging sonar, as an alternative, delivers low quality sonar images which are not stable and accurate enough to find out natural objects by image processing. For this, artificial landmarks based on the characteristics of ultrasonic waves and their recognition method by a shape matrix transformation were proposed and were proven in Part 1. But, this is not working properly in undulating and dynamically noisy sea-bottom. To solve this, we propose a framework providing a selection phase of likelihood candidates, a selection phase for final candidates, recognition phase and tracking phase in sequence images, where a particle filter based selection mechanism to eliminate fake candidates and a mean shift based tracking algorithm are also proposed. All 4 steps are running in parallel and real-time processing. The proposed framework is flexible to add and to modify internal algorithms. A pool test and sea trial are carried out to prove the performance, and detail analysis of experimental results are done. Information is obtained from tracking phase such as relative distance, bearing will be expected to be used for control and navigation of underwater robots.

• Journal of Korean Society of Transportation
• /
• v.22 no.7 s.78
• /
• pp.107-117
• /
• 2004

The growing demand for customer-response, made-to-order manufacturing and satisfactory delivery are stimulating the importance of commercial fleet management problem. Moreover, the rapid transformation to the customer-oriented multi-frequency, relatively small fleet, such as home delivery and Perishable goods, requiring prompt delivery and advanced real-time operation of vehicle fleets. In this paper we consider the vehicle routing problem(VRP) to minimize delivery completion time which is equal to the time that last customer wait for the vehicle in fleet operation. The mathematical formulation is different from those for the classical VRP which is minimizing cost/distance/time by running vehicles in manager's point of view. The key aspect of this model is not considering the return time from the last customer to depot in every vehicle path. Thereby, the vehicle dispatcher can afford to dynamically respond to customer demand and vehicle availability. The customer's position concerned with minimizing waiting time that may be applied for the delivery of product required freshness or delivery time. Extensive experiments are carried out to compare the performance of minimizing delivery completion time by using the ILOG Solver which has the advantage of solving quickly an interim solution very near an optimal solution. The experimental results show that the suggested model can easily find near optimal solution in a reasonable computational time under the various combination of customers and vehicles.

• KIPS Transactions on Software and Data Engineering
• /
• v.7 no.1
• /
• pp.9-18
• /
• 2018

Recently, the use of image stitching technology has been increasing as the number of contents based on virtual reality increases. Image Stitching is a method for matching multiple images to produce a high resolution image and a wide field of view image. The image stitching is used in various fields beyond the limitation of images generated from one camera. Image Stitching detects feature points and corresponding points to match multiple images, and calculates the homography among images using the RANSAC algorithm. Generally, corresponding points are needed for calculating conversion relation. However, the corresponding points include various types of noise that can be caused by false assumptions or errors about the conversion relationship. This noise is an obstacle to accurately predict the conversion relation. Therefore, RANSAC algorithm is used to construct an accurate conversion relationship from the outliers that interfere with the prediction of the model parameters because matching methods can usually occur incorrect correspondence points. In this paper, we propose an algorithm that extracts more accurate inliers and computes accurate transformation relations by using correspondence point relation information used in RANSAC algorithm. The correspondence point relation information uses distance ratio between corresponding points used in image matching. This paper aims to reduce the processing time while maintaining the same performance as RANSAC.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.33 no.4
• /
• pp.231-244
• /
• 2015

The accuracy of reference point of VLBI antenna is mandatory to perform collocation of different space geodetic techniques. In this study, we evaluated the optimal methods for the 3D circle fitting to enhance the accuracy of the reference point of VLBI antenna. Two kinds of methodologies for the orthonormal coordinate system with translation of planar observation point and the unitary coordinate transforamation were suggested and their fitting accuracies were evaluated where the orthogonal distance was calculated by residual between observation point and fitting model and the recursive calculation was performed to improve the accuracy of 3D circle fitting. Finally, we found that the methodology for the unitary coordinate transformation is highly appropriate to determine the optimal equation for azimuth-axis and elevation-axis of VLBI antenna. Therefore, the reference point of VLBI antenna with high accuracy can be determined by the intersection of the above two axises (azimuth-axis and elevation-axis). This result is expected to be utilized for a variety of researches for connection between VLBI observation results and the national control point.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.20 no.3
• /
• pp.16-22
• /
• 2019

Off-line programming and robot calibration through simulation are essential when setting up a robot in a robot automation production line. In this study, we developed a new robot calibration method to match the CAD data of the production line with the measurement data on the site using 3D scanner. The proposed method calibrates the robot using 3D point cloud data through Iterative Closest Point algorithm. Registration is performed in three steps. First, vertices connected by three planes are extracted from CAD data as feature points for registration. Three planes are reconstructed from the scan point data located around the extracted feature points to generate corresponding feature points. Finally, the transformation matrix is calculated by minimizing the distance between the feature points extracted through the ICP algorithm. As a result of applying the software to the automobile welding robot installation, the proposed method can calibrate the required accuracy to within 1.5mm and effectively shorten the set-up time, which took 5 hours per robot unit, to within 40 minutes. By using the developed system, it is possible to shorten the OLP working time of the car body assembly line, shorten the precision teaching time of the robot, improve the quality of the produced product and minimize the defect rate.

• Journal of Wetlands Research
• /
• v.23 no.2
• /
• pp.154-162
• /
• 2021

The naturally opened Han river estuary is a place where the flows of the Han river, Imjin river, Yaesung river meet with West Sea of Korea, so the hydrodynamic mechanism(Impact-Response) structure of Han river estuary is complex. Continuous observation and measurement due to the morphological characteristics at the estuary are required to maintain the estuary environment and river management facilities. However, the Sannam wetland(the study area) is in the military operation area. Therefore, Sannam wetland has the limited access under the control from military office. In 2020, there had a natural disaster due to flooding in August and COVID-19, and it made a survey hard. The noncontact survey technique, the analysis of LANDSAT images at Sannam wetland, was applied to analyze riverbed fluctuation and morphological transformation around Sannam wetland. LANDSAT images obtained from EarthExplorer, USGS and analyzed by QGIS. The analysis was performed based on the area and the distance near Sannam wetland. As a result, an erosion was happened on the downstream of the study area, and the upstream of the study area did not have any serious sediment transport. Considering the resolution of LANDSAT images, this noncontect survey technique is applicable to manage the study area. From the analysis of LANDSAT images, it is assumed that the tidal effect is greater than the inflow from the upstream. The pattern change of tidal response causes the damage of the river facilities near the Hangang river estuary.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.28 no.3B
• /
• pp.323-334
• /
• 2008

Present study examined the functionality of the solitary wave (tsunami) control of the two-rowed porous submerged breakwater by numerical experiments, using a numerical wave tank which is based on the Navier-Stokes equation to explain fluid fields and uses a Volume of Fluid (VOF) method to capture the free water surface. Solitary wave was generated by the internal wave source installed within the computational zone in the numerical wave tank and its wave transformations by structure were compared with those in the previous study. Comparisons with the precious numerical results showed a good agreement. Based on these results, several tow-dimensional numerical modeling investigations of the water fields, including wave transformations, reflection, transmission and energy flux, by the one- and two-rowed permeable submerged breakwater under solitary waves were performed. Even if, it is a research of the limited scope, in case of two-rowed permeable submerged breakwater with $h_0/h=0.925$ ($h_0$ is height of submerged breakwater and h is water depth), the wave height damping in range of $l/L_{eff}>0.4$($L_{eff}$ is effective distance of solitary wave) can reach nearly 60% of the incident wave height. In addition, it is found that reflection coefficient increases nearly 47% and transmission coefficient decreases nearly 18% than one-rowed one. The numerical results revealed that the tow-rowed submerged breakwater can control the incident solitary wave economically and more efficiently than the one-rowed one.

• Journal of the Korea institute for structural maintenance and inspection
• /
• v.27 no.5
• /
• pp.30-39
• /
• 2023

Large dams, which are critical infrastructures for disaster prevention, are exposed to various risks such as aging, floods, and earthquakes. Better dam safety inspection and diagnosis using digital transformation technologies are needed. Traditional visual inspection methods by human inspectors have several limitations, including many inaccessible areas, danger of working at heights, and know-how based subjective inspections. In this study, drone photogrammetry was performed on two large dams to evaluate the applicability of digital data-based dam safety inspection and propose a data management methodology for continuous use. High-quality 3D digital models with GSD (ground sampling distance) within 2.5 cm/pixel were generated by flat double grid missions and manual photography methods, despite reservoir water surface and electromagnetic interferences, and severe altitude differences ranging from 42 m to 99.9 m of dam heights. Geometry profiles of the as-built conditions were easily extracted from the generated 3D mesh models, orthomosaic images, and digital surface models. The effectiveness of monitoring dam deformation by photogrammetry was confirmed. Cracks and deterioration of dam concrete structures, such as spillways and intake towers, were detected and visualized efficiently using the digital 3D models. This can be used for safe inspection of inaccessible areas and avoiding risky tasks at heights. Furthermore, a methodology for mapping the inspection result onto the 3D digital model and structuring a relational database for managing deterioration information history was proposed. As a result of measuring the labor and time required for safety inspection at the SYG Dam spillway, the drone photogrammetry method was found to have a 48% productivity improvement effect compared to the conventional manpower visual inspection method. The drone photogrammetry-based dam safety inspection is considered very effective in improving work productivity and data reliability.

• Journal of the Korean Institute of Landscape Architecture
• /
• v.52 no.1
• /
• pp.1-16
• /
• 2024

Alvin Toffler mentioned that it is important for future society to keep pace with synchronization and that time deviations can hinder social development. As we experience the new normal era of untact, we have experienced an increase in non-face-to-face contact and accelerated digital transformation. Amid these rapid changes, we can maintain the need for synchronization or change in space. Therefore, we would like to study what kind of settlements people create and choose. We looked at the metaverse as an object that could indirectly find out about this, and used the content called "Animal Crossing" to collect data related to the spatial form of the metaverse. Sampling utilized a judgment sampling method during non-probability sampling to alleviate differences due to the progress of the game. The collected data was classified according to floor plan and location type and briefly organized through descriptive statistics. After matching each facility by use, data was constructed by setting coordinates for each cluster and listing them. This data was interpreted graphically on the coordinate plane for each cluster, and Euclidean analysis was performed to analyze the relationships between clusters and residential choice using a Euclidean matrix. As a result of the analysis, it could be interpreted that efficiency was pursued by arranging similar functions in close proximity. Nevertheless, when choosing a residence, it was interpreted that the intention was to create a community through arrangement adjacent to residents rather than efficiency or convenience. Due to the differences between the metaverse and the real world, it is expected that there will be limitations in equating it with reality. However, through the space expressed in the virtual world by people who are far away from the constraints of reality, we can indirectly know the wishes that we have not been able to express due to our lack of awareness.