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확장 변형된 Kalman filter 를 이용한 3차원 동작파라미터의 추정
金氣源,盧度煥 全北大學校 1996 論文集 Vol.42 No.-
This paper proposes the motion analysis method not affected by outer environment. In this paper, a moving object has fewer feature points and fewer image frames than existing method, and parameters are estiamted by iteration. A moving object has constant precession at rotational motion and constant acceleration at translational motion. The quaternion is used to describe the rotation of the rigid body about arbitrary rotational axis. The measurements are noisy perturbations of 3-D feature points represented in a spatial coordinate system. It is assumed that the 3-D feature points are extracted from the stereo images and matched over the frames. To estimate the motion parameter of the object, IEKF(Iterated Extended Kalman Filter)is used. IEKF is a transformation of Kalman Filter which is approximating nonlinear part of motion model, a recursive filtering for one frame. Consequently, this paper proves a validity of suggested method by computer simulation.
김기원 國民大學校 山林科學硏究所 1997 山林科學 Vol.9 No.-
Korean forest circle is being challenged to open it by the pressures from both inside and outside. It is an urgent need to propose an alternative to overcome the reality. Being faced with the pressure, the purpose of this study is to propose a basic concept for the future master plan, which is to develop a silvipolis as a center piece of a comprehensive plan for the development of mountain villages, so that the plan works as an agent to promote the vitalization of forestry and the economy of forest villages in mountain regions. For this end, the background to the appearance of silvipolis is analized, several alternatives are suggested, then the functions to be included in the silvipolis are introduced. The silvipolis can be defined as a civic village where forests are the principal agent to support the community. The main idea of silvipolis is to harmonize the forestry as a principal industry supporting the community and services within the community. The three basic goals to pursue in the silvipolis are: 1) restoration of the cultural relationships among forests, human beings, and cities; 2) upgrading forest productivity; 3) creating new livable living space. This study also suggests 7 basic concepts for the silvipolis so that the silvipolis plan can provide harmony within the framework of the comprehensive plan: picturesqueness, neighborliness, circulation, near naturality, naturality, variety, and selfsupport.