• The Bulletin of The Korean Astronomical Society
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• v.36 no.2
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• pp.103.2-103.2
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• 2011

We measure the degree of polarization of the lunar regolith to map the distributions of the age and the particle size. We use a 12cm refracting telescope with a 2k-square pixel color CCD (R band) and a polarization filter. The angular resolution obtained is 3.02 km/pixel. Our goal is to obtain a map of the lunar particle size distribution on the lunar regolith and then that of the age distribution. Polarization of the light scattered by lunar surface contains information on their mean particle size. The mean particle size of the lunar surface has been decreased by continued micro-meteoroid impact over a long period. One can estimate the age of the lunar surface if the mean particle size is known. Particle sizes can be measured through observations of polarization because the mean particle size is related to the maximum polarization and albedo. The age and the particle size of the lunar regolith can give vital information for the future lunar exploration.

• Journal of Korea Multimedia Society
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• v.25 no.9
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• pp.1266-1272
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• 2022

With the recent development of computer vision technology, image processing-based mechanical devices are being developed to realize autonomous driving. The camera-taken images of image processing-based machines are invisible due to scattering and absorption of light in foggy conditions. This lowers the object recognition rate and causes malfunction. The safety of the technology is very important because the malfunction of autonomous driving leads to human casualties. In order to increase the stability of the technology, it is necessary to apply an efficient haze removal algorithm to the camera. In the conventional haze removal method, since the haze removal operation is performed regardless of the haze concentration of the input image, excessive haze is removed and the quality of the resulting image is deteriorated. In this paper, we propose an automatic haze removal method that removes haze according to the haze density of the input image by applying Ngo's Haziness Degree Evaluator (HDE) to Kim's haze removal algorithm using Hazy Particle Map. The proposed haze removal method removes the haze according to the haze concentration of the input image, thereby preventing the quality degradation of the input image that does not require haze removal and solving the problem of excessive haze removal. The superiority of the proposed haze removal method is verified through qualitative and quantitative evaluation.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.803-810
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• 2016

This paper presents a study of localization methods based on particle filter using 2D laser sensor measurements and road feature map information, for autonomous vehicles. In order to navigate in an urban environment, an autonomous vehicle should be able to estimate the location of the ego-vehicle with reasonable accuracy. In this study, road features such as curbs and road markings are detected to construct a grid-based feature map using 2D laser range finder measurements. Then, we describe a particle filter-based method for accurate positional estimation of the autonomous vehicle in real-time. Finally, the performance of the proposed method is verified through real road driving experiments, in comparison with accurate DGPS data as a reference.

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.2
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• pp.109-118
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• 2008

We present a robust localization algorithm using particle filter for mobile robots in a dynamic environment. It is difficult to describe moving obstacles like people or other robots on the map and the environment is changed after mapping. A mobile robot cannot estimate its pose robustly with this incomplete map because sensor observations are corrupted by un-modeled obstacles. The proposed algorithms provide robustness in such a dynamic environment by suppressing the effect of corrupted sensor observations with a selective update or a sampling from non-corrupted window. A selective update method makes some particles keep track of the robot, not affected by the corrupted observation. In a sampling from non-corrupted window method, particles are always sampled from several particle sets which use only non-corrupted observation. The robustness of proposed algorithm is validated with experiments and simulations.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.3
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• pp.308-316
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• 2013

This paper proposes an observation model for a particle filter-based localization using a sonar grid map. The proposed model estimates a predicted observation by considering the properties of a sonar sensor which has a large angular uncertainty. The proposed model searches a grid which has the highest probability to reflect a sonar beam using the following procedures; (1) the reliable area of a single sonar data is determined using the footprint association model; (2) the detection probability of each grid cell in a sonar beam coverage in estimated. The proposed model was applied to the particle filter based localization, and was verified by experiments in indoor environments.

• Journal of Information Processing Systems
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• v.18 no.3
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• pp.332-343
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• 2022

To address the problems of the gravitational search algorithm (GSA) in which the population is prone to converge prematurely and fall into the local solution when solving the single-objective optimization problem, a sine map jumping gravity search algorithm based on asynchronous learning is proposed. First, a learning mechanism is introduced into the GSA. The agents keep learning from the excellent agents of the population while they are evolving, thus maintaining the memory and sharing of evolution information, addressing the algorithm's shortcoming in evolution that particle information depends on the current position information only, improving the diversity of the population, and avoiding premature convergence. Second, the sine function is used to map the change of the particle velocity into the position probability to improve the convergence accuracy. Third, the Levy flight strategy is introduced to prevent particles from falling into the local optimization. Finally, the proposed algorithm and other intelligent algorithms are simulated on 18 benchmark functions. The simulation results show that the proposed algorithm achieved improved the better performance.

• Journal of the Korea Computer Graphics Society
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• v.14 no.4
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• pp.7-18
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• 2008

To realistically produce fluids such as smoke for the visual effects in the films or animations, we need two main processes: a physics-based modeling of smoke and a rendering of smoke simulation data, based on light transport theory. In the computer graphics community, the physics-based fluids simulation is generally adopted for smoke modeling. Recently, the interest of the particle-based Lagrangian simulation methods is increasing due to the advantages at simulation time, instead of the grid-based Eulerian simulation methods which was widely used. As a result, because the smoke rendering technique depends heavily on the modeling method, the research for rendering of the particle-based smoke data still remains challenging while the research for rendering of the grid-based smoke data is actively in progress. This paper focuses on realistic rendering technique for the smoke particles produced by Lagrangian simulation method. This paper introduces a technique which is called particle map, that is the expansion and modification of photon mapping technique for the particle data. And then, this paper suggests the novel particle map technique and shows the differences and improvements, compared to previous work. In addition, this paper presents irradiance map technique which is the pre-calculation of the multiple scattering term in the volume rendering equation to enhance efficiency at rendering time.

• The Bulletin of The Korean Astronomical Society
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• v.40 no.1
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• pp.62.1-62.1
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• 2015

Polarization of the light reflected off the Moon provides information on the size and composition of the particles in the lunar regolith. The mean particle size of the regolith can be estimated from the combination of the albedo and degree of polarization, while the color ratio of the parallel-component polarization (CP) has been suggested to be related to the amount of nanophase metallic iron (npFe^0) inside the regolith particles. Both the mean size and npFe^0 abundance of the particles have been used as maturity indicators of the regolith since sustained impacts of high energy particles and micro-meteoroids cause comminution of particles and production of npFe^0. Based on our multispectral polarimetric observations of the whole near side of the Moon in the U, B, V, R, and I bands, we compare the maps of the mean particle size, CP, and the optical maturity (OM). We find that the mean particle size map is sensitive to the most immature (~0.1 Gyr) soil, the OP map to the intermediate immaturity (a few 0.1 Gyr) soil, and the CP map to the least immature (~1 Gyr) soil.

• Proceedings of the Korean Powder Metallurgy Institute Conference
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• 2006.09b
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• pp.704-705
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• 2006

Discrete element analysis is used to map various log-normal particle size distributions into measures of the in-sphere pore size distribution. Combinations evaluated range from monosized spheres to include bimodal mixtures and various log-normal distributions. The latter proves most useful in providing a mapping of one distribution into the other (knowing the particle size distribution we want to predict the pore size distribution). Such metrics show predictions where the presence of large pores is anticipated that need to be avoided to ensure high sintered properties.

• The Journal of Korea Robotics Society
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• v.9 no.2
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• pp.96-103
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• 2014

Global localization is one of the essential issues for mobile robot navigation. In this study, an indoor global localization method is proposed which uses a Kinect sensor and a monocular upward-looking camera. The proposed method generates an environment map which consists of a grid map, a ceiling feature map from the upward-looking camera, and a spatial feature map obtained from the Kinect sensor. The method selects robot pose candidates using the spatial feature map and updates sample poses by particle filter based on the grid map. Localization success is determined by calculating the matching error from the ceiling feature map. In various experiments, the proposed method achieved a position accuracy of 0.12m and a position update speed of 10.4s, which is robust enough for real-world applications.