• 로봇학회논문지
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• 제6권3호
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• pp.292-300
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• 2011

Global positioning system (GPS) is widely used to measure the position of a vehicle. However, the accuracy of the GPS can be severely affected by surrounding environmental conditions. To deal with this problem, the GPS and odometry data can be combined using an extended Kalman filter. For stable navigation of an outdoor mobile robot using the GPS, this paper proposes two methods to evaluate the reliability of the GPS data. The first method is to calculate the standard deviation of the GPS data and reflect it to deal with the uncertainty of the GPS data. The second method is to match the GPS data to the traversability map which can be obtained by classifying outdoor terrain data. By matching of the GPS data with the traversability map, we can determine whether to use the GPS data or not. The experimental results show that the proposed methods can enhance the performance of the GPS-based outdoor localization.

• 한국측량학회지
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• 제13권2호
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• pp.135-140
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• 1995

도시의 급속한 팽창에 따라 지하매설물의 역할이 증대되고 기존에 구축된 자료로서는 정확도와 전산화 처리에 많은 어려움을 갖고 있고 특히 현장에서 기존의 지하매설물의 도면을 이용하기에는 많은 부정확성을 내포하고 있다. 본 연구는 기존의 도면 관리 방식에서 직접 현장에서 지형도와 지하매설물의 위치를 동시에 측량하므로서 정확도 향상과 전산화된 도면과의 접합이 가능한 방안을 제시한다. 본 연구에서는 지형측량과 지하매설물 측량을 동시에 실시하여 자료를 수집하고 이 수집된 자료를 컴퓨터작업을 통해 도화하므로서 실제의 지하매설물의 위치와 심도 그리고 각각의 지하매설물에 대한 속성정보들을 제시하는데 있다.

• 한국통신학회논문지
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• 제36권12C호
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• pp.738-743
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• 2011

고해상도 3차원 깊이 영상은 고품질의 3차원 방송을 위해 필요한 중요한 정보이다. 깊이 카메라는 정확한 깊이 정보를 실시간으로 얻을 수 있지만, 카메라 물리적 한계로 인해 저해상도의 깊이 영상만 이용한다. 본 논문에서는 저해상도의 깊이 영상과 색상 영상을 이용하여 색상 영상을 보간 하는 방법을 제안한다. 제안하는 방법은 랜덤워크 확률 모델을 이용하여 각 화소들이 초기 깊이값과 같을 확률값을 정의하여 가장 높은 확률을 가지는 초기 깊이값을 나머지 화소들에 복사한다. 제안한 방법은 인접한 화소들만을 이용하는 것이 아니라 경로를 따라 비용을 계산함으로써, 여러 화소에 걸친 색상의 변화율이 고려되어 물체의 경계 주변에서 색상 영역과 깊이 영상간의 경계가 일치하는 향상된 깊이 영상을 얻을 수 있다.

• 제어로봇시스템학회논문지
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• 제5권7호
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• pp.821-826
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• 1999

This paper proposes a face recognition method using feature spaces and image vectors in the image plane. We obtain the 2-D feature space using the self-organizing map which has two inputs from the axis of the given image. The image vector consists of its weights and the average gray levels in the feature space. Also, we can reconstruct an normalized face by using the image vector having no connection with the size of the given face image. In the proposed method, each face is recognized with the best match of the feature spaces and the maximum match of the normally retrieval face images, respectively. For enhancing recognition rates, our method combines the two recognition methods by the feature spaces and the retrieval images. Simulations are conducted on the ORL(Olivetti Research laboratory) images of 40 persons, in which each person has 10 facial images, and the result shows 100% recognition and 14.5% rejection rates for the 20$\times$20 feature sizes and the 24$\times$28 retrieval image size.

• International Journal of Computer Science & Network Security
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• 제22권9호
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• pp.280-286
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• 2022

Facial recognition system is a biometric manipulation. Its applicability is simpler, and its work range is broader than fingerprints, iris scans, signatures, etc. The system utilizes two technologies, such as face detection and recognition. This study aims to develop a facial recognition system to recognize person's faces. Facial recognition system can map facial characteristics from photos or videos and compare the information with a given facial database to find a match, which helps identify a face. The proposed system can assist in face recognition. The developed system records several images, processes recorded images, checks for any match in the database, and returns the result. The developed technology can recognize multiple faces in live recordings.

• 한국군사과학기술학회지
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• 제13권2호
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• pp.180-187
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• 2010

In this paper, a global path generation method is suggested using multiple grid maps connected with the mission type of unmanned combat vehicle(UCV). In order to carry out a mission for UCV, it is essential to find a global path which is coincident with the characteristics of the mission. This can be done by considering various combat circumstances represented as grid maps such as velocity map, threat map and communication map. Cost functions of multiple grid maps are linearly combined and normalized to them simultaneously for the path generation. The proposed method is realized using $A^*$, a well known search algorithm, and cost functions are normalized in the ratio of the traverse time which is one of critical information should be provided with the operators using the velocity map. By the experiments, it is checked found global paths match with the mission type by reflecting input data of grid maps properly and the computation time is short enough to regenerate paths in real time as combat circumstances change.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.529-531
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• 2004

For localization, it is very important for an autonomous mobile robot to be able to recognize indoor environment and match an object it detect to an object within a map developed either online or offline. Given the map defining the locations of geometric beacons like wall and comer existing in the robot operation environment, this paper presents a stereo ultrasonic sensor based method that can be conveniently used in recognizing the geometric beacons. The stereo ultrasonic sensor used in the experiment consists of an ultrasonic transmitter and two ultrasonic receivers placed symmetrically about the transmitter. Experiment shows that the proposed method is more efficient in recognizing wall and coner than the conventional method of using multiple number of transmitter-receiver pairs.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.3044-3046
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• 2000

A Stereo matching has been an important tool for reconstructing three dimensional terrain. In this stereo matching process, DEM(Digitai Elevation Map) can be generated by the disparity from reference image to target image. Generally disparity map in matching process can be implemented by wraping from reference image to target image and if the role of reference and target is interchanged, the different DEM can be obtained. To evaluate the generated DEM from matching process, We adapted the Photorealistic synthetic image generator using ray tracing technique. The generator produce two simulated image from previous DEM and Ortho-image which is regard as Ground-truth. In this paper, we are concern about estimating more accurate DEM from these two DEMs. The several fusion methods of two DEMs are proposed to generate accurate DEM and compared with previous method. one of fusion methods is by using Cross-Correlation match score and the true DEM should have a high matching score.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권6호
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• pp.366-371
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• 2005

For an autonomous mobile robot localization, it is very important for the robot to be able to recognize indoor environment and match a detected object to an object defined within a map developed either online or of offline. Given the map defining the locations of geometric beacons like wall and corner existing in the robot operation environment, this paper presents a stereo ultrasonic sensor based method practically applicable in recognizing the geometric beacons in real-time. The stereo ultrasonic sensor used in the experiment consists of an ultrasonic transmitter and two ultrasonic receivers placed symmetrically about the transmitter Experimental results are provided to demonstrate that the proposed method is more efficient in recognizing wall and coner than the conventional method of using multiple number of transmitter-receiver pairs.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2012년도 춘계학술발표대회
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• pp.224-227
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• 2012

시계열 데이터 검색은 금융, 생명정보 등 많은 분야에서 요구되는 주요한 기술로서 연구되어 왔다. 특히 기존에 제안된 스케일링(Scaling)과 쉬프팅(Shifting)을 이용한 검색인 SE Match는 유사 서브시퀀스를 효과적으로 찾아내는 방법으로 알려지고 있다. 본 논문에서는 이 방법에 맵리듀스를 적용하는 MRSE-검색 (MapReduce-based Searching with Shift-Eliminated)방법을 제안한다. 본 논문이 제안하는 방법으로 분산처리를 통하여 응답시간의 개선과 대용량의 시계열 데이터에서 효율적인 검색이 가능 할 것으로 사료된다.