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iPhone의 LiDAR와 Camera를 이용한 실내 공간 안내를 위한 시스템 설계
성광제,장준석 한국반도체디스플레이기술학회 2024 반도체디스플레이기술학회지 Vol.23 No.1
In indoor environments, since global positioning system (GPS) signals can be blocked by obstacles, such as building structure. the performance of GPS-based positioning methods can be degraded because of the loss of GPS signals. To solve this problem, various localization schemes using inertial measurement unit (IMU) sensors, such as gyroscope, accelerometer, and magnetometer, have been proposed to enhance the positioning accuracy in indoor environments. IMU-based positioning methods can estimate the location of the user by calculating the velocity and heading angle of the user without the help of GPS. However, low-cost MEMS IMUs may lead to drift error and large bias. In addition, positioning errors in IMU-based positioning approaches can be caused by the irrelevant motion of the pedestrian. In this study, we propose an enhanced indoor positioning method that provides more reliable localization results by using the camera, light detection and right (LiDAR), and ARKit framework on the iPhone. Through reliable positioning results and augmented reality (AR) experiences, our indoor positioning system can provide indoor space guidance services.
스마트폰과 Double-Stacked 파티클 필터를 이용한 실외 보행자 위치 추정 정확도 개선에 관한 연구
성광제 한국반도체디스플레이기술학회 2023 반도체디스플레이기술학회지 Vol.22 No.2
In urban environments, signals of Global Positioning System (GPS) can be blocked and reflected by tall buildings, large vehicles, and complex components of road network. Therefore, the performance of the positioning system using the GPS module in urban areas can be degraded due to the loss of GPS signals necessary for the position estimation. To deal with this issue, various localization schemes using inertial measurement unit (IMU) sensors, such as gyroscope and accelerometer, and Bayesian filters, such as Kalman filter (KF) and particle filter (PF), have been designed to enhance the performance of the GPS-based positioning system. Among Bayesian filters, the PF has been widely used for the target tracking and vehicle navigation, since it can provide superior performance in estimating the state of a dynamic system under nonlinear/non-Gaussian circumstance. This paper presents a positioning system that uses the double-stacked particle filter (DSPF) as well as the accelerometer, gyroscope, and GPS receiver on the smartphone to provide higher pedestrian positioning accuracy in urban environments. The DSPF employs a non-parametric technique (Parzen-window) to create the multimodal target distribution that approximates the posterior distribution. Experimental results show that the DSPF-based positioning system can provide the significant improvement of the pedestrian position estimation in urban environments.
맵 매칭 알고리즘을 이용한 실내 위치 추정 정확도 개선에 대한 연구
성광제 한국반도체디스플레이기술학회 2023 반도체디스플레이기술학회지 Vol.22 No.2
Due to the unavailability of global positioning system (GPS) indoors, various indoor pedestrian positioning methods have been designed to estimate the position of the user using received signal strength (RSS) measurements from radio beacons, such as wireless fidelity (WiFi) access points and Bluetooth low energy (BLE) beacons. In indoor environments, radio-frequency (RF) signals are unpredictable and change over space and time because of multipath associated with reflection and refraction, shadow fading caused by obstacles, and interference among different devices using the same frequencies. Therefore, the outliers in the positional information obtained from the indoor positioning method based on RSS measurements occur often. For this reason, the performance of the positioning method can be degraded by the characteristics of the RF signal. To resolve this issue, a map-matching (MM) algorithm based on maximum probability (MP) estimation is applied to the indoor positioning method in this study. The MM algorithm locates the aberrant position of the user estimated by the positioning method within the limits of the adjacent pedestrian passages. Empirical experiments show that the positioning method can achieve higher positioning accuracy by leveraging the MM algorithm.
김현진 ( Kim Hyun Jin ),성광제 ( Sung Kwang Jae ) 한양대학교 제3섹터연구소 2016 시민사회와 NGO Vol.14 No.2
본 연구는 비영리기관의 경영 성과지표를 제시한다. 여기서 제시되는 평가틀은 비영리기관에 대한 선행연구와 여러 선진기관의 역량평가요소를 종합하여 비영리기관은 어떻게 운영되어야 하는가에 대한 포괄적인 해답을 제시하고자 하였다. 조직전반에 대한 진단을 Top-down방식으로 그려내는 모델과 실제 비영리섹터의 특성과 성공요인을 짚어줄 수 있는 Bottom-up방식을 종합하였다. 여기서 뼈대가 되는 방법론은 조직 전반을 전략적 관점에서 바라보고 미래 지향적 목표와 과제를 도출하는데 사용되는 균형성과표(“Balanced ScoreCard”)이다. 평가틀은 크게 `재단전략 및 사업평가`, `인력 및 조직평가`, `재무건전성과 투명성`으로 구성되는 3가지 대항목과 50개의 세부 항목으로 구성된다. 동그라미재단은 50개 평가항목에 대해 상중하 (3,2,1점)를 기준으로 독립적인 평가를 실시하였고 그 결과에 따라 개선해야 할 항목과 조금 더 소통해야 할 항목들을 뽑아내었다. 비영리기관 운영의 평가틀은 전반적인 조직운영의 측면에서 어느 부분이 부족한지, 어떤 방법으로 개선해야 할지 나침반역할을 한다. 또한 각 항목에 대해 주기적으로 검토하고 개선하는 노력을 통해 조직 구성원들이 통일된 지향점을 가지고 기관을 이끌어갈 수 있다. 객관적이고 냉정한 시선으로 자신의 조직을 스스로 진단하고, 그 과정과 결과를 통해 조직의 긍정적 변화를 이끌어내는 것이 본 연구에서 제시하는 평가틀의 궁극적 목적이다. 이를 위해 본 연구에서는 비영리섹터의 중간지원조직이자 사업수행기관인 동그라미재단의 실제 운영 경험과 한국 비영리섹터의 특성을 고려하여 기존 연구의 한계를 극복하고 숲과 나무를 균형 있게 볼 수 있는 종합적인 평가 프레임을 제시하고자 한다. This research is intended to suggest a management performance index for nonprofit organizations. With the assessment framework that combines various components of capability assessments used in many nonprofit leaders and preceding research, we tried to come up with a comprehensive solution as to how nonprofit organizations should be managed. We used a top-down model that diagnoses the overall organization together with a bottom-up model that pinpoints the actual characteristics and success factors of the nonprofit sector. The methodology that serves as the framework is the "Balanced ScoreCard" which is used to see the entire organization in a strategic point of view and derive forward looking goals and challenges. This assessment framework consists of three main criteria, "Overall Strategy and Business Evaluation, "Personnel and Organization Evaluation," and "Financial Stability and Transparency," and 50 sub-criteria. The Circle Foundation has conducted a self-assessment using a three-point scale (high/medium/low or 3, 2, 1) based on the 50 evaluation criteria and extracted items that need improvement and more communication from the results. The assessment framework for nonprofit organizations should play a role of a compass that shows directions - which part is lacking and how it should be improved in terms of the organizational operations. Through the effort to review each criteria on a regular basis and improve the performance, the members of the organization can get unified towards one direction. The ultimate goal of the assessment framework in this study is to create positive changes in the organization in the process of a self-diagnosis and an action for improvement. For this, this study intends to suggest a comprehensive assessment framework that overcomes the limitations of the existing research and enables organizations to see the wood as well as trees in a balanced way, taking The Circle Foundation`s actual experience in operating as a nonprofit intermediary and social service organization and the nature of the Korean nonprofit sector into consideration.