• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.373-380
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• 2022

This paper considers a method of fast correspondence matching for iterative closest point (ICP) algorithm. In robotics, the ICP algorithm and its variants have been widely used for pose estimation by finding the translation and rotation that best align two point clouds. In computational perspectives, the main difficulty is to find the correspondence point on the reference point cloud to each observed point. Jump-table-based correspondence matching is one of the methods for reducing computation time. This paper proposes a method that corrects errors in an existing jump-table-based correspondence matching algorithm. The criterion activating the use of jump-table is modified so that the correspondence matching can be applied to the situations, such as point-cloud registration problems with highly curved surfaces, for which the existing correspondence-matching method is non-applicable. For demonstration, both hardware and simulation experiments are performed. In a hardware experiment using Hokuyo-10LX LiDAR sensor, our new algorithm shows 100% correspondence matching accuracy and 88% decrease in computation time. Using the F1TENTH simulator, the proposed algorithm is tested for an autonomous driving scenario with 2D range-bearing point cloud data and also shows 100% correspondence matching accuracy.

• Journal of Broadcast Engineering
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• v.25 no.5
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• pp.709-722
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• 2020

Point Cloud which is a cluster of numerous points can express 3D object beyond the 2D plane. Each point contains 3D coordinate and color data basically, reflectance or etc. additionally. Point Cloud demand research and development much higher effective compression technology. Video-based Point Cloud Compression (V-PCC) technology in development and standardization based on the established video codec. Despite its high effective compression technology, point cloud service will be limited by terminal spec and network conditions. 2D video had the same problems. To remedy this kind of problem, 2D video is using Scalable High efficiency Video Coding (SHVC), Dynamic Adaptive Streaming over HTTP (DASH) or diverse technology. This paper proposed a density scalability method using SHVC codec in V-PCC.

• Elastomers and Composites
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• v.41 no.2
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• pp.116-124
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• 2006

Cloud-point data to $160^{\circ}C$ and 1,000 bar are presented with poly(ethylene-co-15.3 mole% octene) copolymers ($PEO_{15}$) in pure 1-octene and mixtures of ethylene - 1-octene. The cloud-point curves for $PEO_{15}$ - ethylene - 1-octene mixture dramatically increase in pressure to as high as 1,000 bar with an increasing ethylene concentration. At ethylene concentrations less than 18 wt%, the ternary mixture has bubble- and cloud-point curves. As the ethylene concentration of the ternary mixture increases, the bubble-point curve and the single-phase region reduce. The reduction in the single phase region with increasing ethylene concentrations is the result of reduced dispersion interactions between $PEO_{15}$ and the mixed solvent. The single-phase region decreases with increasing temperatures when ethylene concentrations are lower than 36 wt%, whereas the single-phase region increases with temperatures at ethylene concentrations greater than 50 wt%. At ethylene concentrations greater than 50 wt% the effect of the polar interactions of the mixed solvent, which is unfavorable to dissolve PEO, is greater than the effect of the density of the mixed solvent. Therefore, the cloud-point pressures increase with a decreasing temperature. However, at ethylene concentrations less than 50 wt%, the cloud-point pressures decrease with temperature, because the effect of the polar interactions is less than the density effect.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.5 s.182
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• pp.143-148
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• 2006

It is still very difficult to generate a geometry model and finite element model, which has complex and many free surface, even though 3D CAD solutions are applied. Furthermore, in the medical field, which is a big growth area of recent years, there is no drawing. For these reasons, making a geometry model, which is used in finite element analysis, is very difficult. To resolve these problems and satisfy the requests of the need to create a 3D digital file for an object where none had existed before, new technologies are appeared recently. Among the recent technologies, there is a growing interest in the availability of fast, affordable optical range laser scanning. The development of 3D laser scan technology to obtain 3D point cloud data, made it possible to generate 3D model of complex object. To generate CAD and finite element model using point cloud data from 3D scanning, surface reconstruction applications have widely used. In the early stage, these applications have many difficulties, such as data handling, model creation time and so on. Recently developed point-based surface generation applications partly resolve these difficulties. However there are still many problems. In case of large and complex object scanning, generation of CAD and finite element model has a significant amount of working time and effort. Hence, we concerned developing a good direct finite element model generation method using point cloud's location coordinate value to save working time and obtain accurate finite element model.

• Journal of the Korea Society of Computer and Information
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• v.23 no.12
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• pp.81-87
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• 2018

Cloud computing is a computing environment in which users borrow as many IT resources as they need to, and use them over the network at any point in time. This is the concept of leasing and using as many IT resources as needed to lower IT resource usage costs and increase efficiency. Recently, cloud computing is emerging to provide stable service and volume of data along with major technological developments such as the Internet of Things, artificial intelligence and big data. However, for a more secure cloud environment, the importance of perimeter security such as shared resources and resulting secure data storage and access control is growing. This paper analyzes security threats in cloud computing environments and proposes a security architecture for effective response.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.11
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• pp.144-153
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• 2007

In order to generate the input data for rapid prototyping, a new approach which is based on the implicit surface interpolation method is presented. In the method a surface is reconstructed by creating smooth implicit surface from unorganized cloud of points through which the surface should pass. In the method an implicit surface is defined by the adaptive local shape functions including quadratic polynomial function, cubic polynomial function and RBF(Radial Basis Function). By the reconstruction of a surface, various types of error in raw STL file including degenerated triangles, undesirable holes with complex shapes and overlaps between triangles can be eliminated automatically. In order to get the slicing data for rapid prototyping an efficient intersection algorithm between implicit surface and plane is developed. For the direct usage for rapid prototyping, a robust transformation algorithm for the generation of complete STL data of solid type is also suggested.

• Journal of Advanced Navigation Technology
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• v.27 no.4
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• pp.481-487
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• 2023

Recently, interest in UAM (Urban Air Mobility) has surged as a critical solution to urban traffic congestion and air pollution issues. However, efficient UAM operation requires accurate 3D Point Cloud data processing, particularly in separating the ground and objects. This paper proposes and validates a method for effectively separating ground and objects in a UAM environment, taking into account its dynamic and complex characteristics. Our approach combines attitude information from MEMS sensors with ground plane estimation using RANSAC, allowing for ground/object separation that isless affected by GPS errors. Simulation results demonstrate that this method effectively operates in UAM settings, marking a significant step toward enhancing safety and efficiency in urban air mobility. Future research will focus on improving the accuracy of this algorithm, evaluating its performance in various UAM scenarios, and proceeding with actual drone tests.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.10a
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• pp.422-424
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• 2021

In this paper, it leads the approach of fusing multiple RGB cameras for visual objects recognition based on deep learning with convolution neural network and 3D Light Detection and Ranging (LiDAR) to observe the environment and match into a 3D world in estimating the distance and position in a form of point cloud map. The goal of perception in multiple cameras are to extract the crucial static and dynamic objects around the autonomous vehicle, especially the blind spot which assists the AV to navigate according to the goal. Numerous cameras with object detection might tend slow-going the computer process in real-time. The computer vision convolution neural network algorithm to use for eradicating this problem use must suitable also to the capacity of the hardware. The localization of classified detected objects comes from the bases of a 3D point cloud environment. But first, the LiDAR point cloud data undergo parsing, and the used algorithm is based on the 3D Euclidean clustering method which gives an accurate on localizing the objects. We evaluated the method using our dataset that comes from VLP-16 and multiple cameras and the results show the completion of the method and multi-sensor fusion strategy.

• ETRI Journal
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• v.46 no.4
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• pp.683-696
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• 2024

The point cloud provides viewers with intuitive geometric understanding but requires a huge amount of data. Moving Picture Experts Group (MPEG) has developed video-based point-cloud compression in the range of 300-700. As the compression rate increases, the complexity increases to the extent that it takes 101.36 s to compress one frame in an experimental environment using a personal computer. To realize real-time point-cloud compression processing, the direct patch projection (DPP) method proposed herein simplifies the complex patch segmentation process by classifying and projecting points according to their geometric positions. The DPP method decreases the complexity of the patch segmentation from 25.75 s to 0.10 s per frame, and the entire process becomes 8.76 times faster than the conventional one. Consequently, this proposed DPP method yields similar peak signal-to-noise ratio (PSNR) outcomes to those of the conventional method at reduced times (4.7-5.5 times) at the cost of bitrate overhead. The objective and subjective results show that the proposed DPP method can be considered when low-complexity requirements are required in lightweight device environments.

• Journal of Broadcast Engineering
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• v.26 no.6
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• pp.680-691
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• 2021

Due to the recent developments of attaining 3D contents by using devices such as 3D scanners, the diversity of the contents being used in AR(Augmented Reality)/VR(Virutal Reality) fields is significantly increasing. There are several ways to represent 3D data, and using point clouds is one of them. A point cloud is a cluster of points, having the advantage of being able to attain actual 3D data with high precision. However, in order to express 3D contents, much more data is required compared to that of 2D images. The size of data needed to represent dynamic 3D point cloud objects that consists of multiple frames is especially big, and that is why an efficient compression technology for this kind of data must be developed. In this paper, a motion estimation and compensation method for dynamic point cloud objects using 3D DCT is proposed. This will lead to switching the 3D video frames into I frames and P frames, which ensures higher compression ratio. Then, we confirm the compression efficiency of the proposed technology by comparing it with the anchor technology, an Intra-frame based compression method, and 2D-DCT based V-PCC.