Kwang-Ryul Baek

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Inertial navigation systems (INS) are composed of inertial sensors, such as accelerometers and gyroscopes. An INS updates its orientation and position automatically; it has an acceptable stability over the short term, however this stability deteriorates over time. Odometry, used to estimate the position of a mobile robot, employs encoders attached to the(More)
This paper presents vision-based helipad detection algorithm and implementation of embedded landing system for an UAV (Unmanned Aerial Vehicle). The helipad detection algorithm includes various image processing processes and feature recognition methods. It is essential for the embedded system that the detection algorithm should be simple and accurate. We(More)
In the indoor environment, variation of the magnetic field is caused by building structures, and magnetic field map navigation is based on this feature. In order to estimate position using this navigation, a three-axis magnetic field must be measured at every point to build a magnetic field map. After the magnetic field map is obtained, the position of the(More)
In vision-based tracking system, thresholding is one of the most important steps in image pre-processing. Thresholding algorithm has a strong influence on both accuracy and performance in object tracking. Thresholding algorithms are classified as global thresholding or local thresholding. In general, the computing power required for local thresholding(More)
A global image thresholding algorithm based on boundary selection is proposed for improving conventional histogram-based thresholding algorithms. An image is divided into blocks of a fixed size, and the pixel variance of each block is used for finding the boundary blocks that a bimodal histogram. Otsu's threshold value of boundary block is used to classify(More)
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