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유전적 프로그래밍과 SOM을 결합한 개선된 선박 설계용 데이터 마이닝 시스템 개발
이경호(Kyungho Lee),박종훈(Jonghoon Park),한영수(Youngsoo Han),최시영(Siyoung Choi) (사)한국CDE학회 2009 한국CDE학회 논문집 Vol.14 No.6
Recently, knowledge management has been required in companies as a tool of competitiveness. Companies have constructed Enterprise Resource Planning(ERP) system in order to manage huge knowledge. But, it is not easy to formalize knowledge in organization. We focused on data mining system by genetic programming(GP). Data mining system by genetic programming can be useful tools to derive and extract the necessary information and knowledge from the huge accumulated data. However when we don"t have enough amounts of data to perform the learning process of genetic programming, we have to reduce input parameter(s) or increase number of learning or training data. In this study, an enhanced data mining method combining Genetic Programming with Self organizing map, that reduces the number of input parameters, is suggested. Experiment results through a prototype implementation are also discussed.
김창현(Changhyeon Kim),장영석(Youngseok Jang),김준하(Junha Kim),한영수(Youngsoo Han),김현진(H. Jin Kim) 제어로봇시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.2
Visual navigation technology enables the pose of a robot to be estimated and the surrounding environment to be perceived using a vision sensor mounted on the robot. This technology is essential to autonomous driving systems in unmanned mobile vehicles and has been actively researched in visual odometry (VO) and visual simultaneous localization and mapping (vSLAM). Generally, the vision-based navigation algorithms perform data association and pose estimation under the assumption that the brightness of surrounding environments does not change over time and that the scene obtained from vision sensors is static. However, in realistic industrial sites or urban environments, the brightness of the environment varies, and dynamic objects such as workers and cars are present. These conditions may lead to a decline in the reliability and performance of visual navigation. Research on robust visual navigation under environmental variations, such as illumination changes and dynamic circumstances, has sought to solve this problem. This study proposes a state-of-the-art robust visual navigation system that is robust to illumination changes and dynamic environments. Moreover, our analysis and classification is based on the methodology used in each robust visual navigation.