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다중 채널 동적 객체 정보 추정을 통한 특징점 기반 Visual SLAM
박근형,조형기 대한임베디드공학회 2024 대한임베디드공학회논문지 Vol.19 No.1
An indirect visual SLAM takes raw image data and exploits geometric information such as key-points and line edges. Due to various environmental changes, SLAM performance may decrease. The main problem is caused by dynamic objects especially in highly crowded environments. In this paper, we propose a robust feature-based visual SLAM, building on ORB-SLAM, via multi-channel dynamic objects estimation. An optical flow and deep learning-based object detection algorithm each estimate different types of dynamic object information. Proposed method incorporates two dynamic object information and creates multi-channel dynamic masks. In this method, information on actually moving dynamic objects and potential dynamic objects can be obtained. Finally, dynamic objects included in the masks are removed in feature extraction part. As a results, proposed method can obtain more precise camera poses. The superiority of our ORB-SLAM was verified to compared with conventional ORB-SLAM by the experiment using KITTI odometry dataset.
박근형,정해영,채희정 한국산학기술학회 2003 한국산학기술학회논문지 Vol.4 No.4
동ㆍ식물성 기름으로부터 산이나 알카리 촉매를 사용하여 제조한 친환경 에너지인 바이오디젤의 미생물학적 안정성을 테스트하기 위하여 온도와 저장기간에 따른 미생물에 의한 변질정도를 측정하였다. 측정방법으로 역상 현미경 관찰과, 3M petrifilm분석법으로 생균수를 측정하였고, 균체 단백질의 양을 측정하기 위하여 Bradford protein assay법을 사용하였다. 바이오디젤과 석유디젤, 그리고 각각의 시료를 혼합한 시료를 서로 다른 온도조건(25℃와 35℃)에서 혐기적인 조건으로 90일동안 장기간 저장했을 때 바이오디젤, 석유디젤 그리고 혼합한 시료에서 미생물의 생육은 관찰되지 않았다. The microbiological stability was examined by detecting the growth of microorganisms in the closed bottles under anaerobic long-term storage at $25^{\circ}C$ and 35$^{\circ}C$. Microbial growth was examined by a microscope and total cell number on a plate medium was quantitatively measured. There was no observed microbial growth in biodiesel for 90 days.
박근형,이종욱,김동연,정지흔,김관,정희정 한국농화학회 1989 Applied Biological Chemistry (Appl Biol Chem) Vol.32 No.3
Soaking of soybeans and the subsequent effect on cooking kinetics were investigated by the means of puncture test and shear press with Instron universal testing machine. Soaked soybeans were water cooked at temperatures of 90∼135℃ adjusted with oil bath. Instron puncture force of 0.15㎏ and shear force of 1.2㎏/g-soybean were appeared as the eating soft texture by sensory evaluation. Softening activation energies of yellow soybeans for puncture and shear force were 14,540㎈/g-mole and 21,374㎈/g-mole. z-values were calculated as 42.1℃ and 37.4℃, respectively.