고희동 교수

We propose a novel method to enhance a family of ICP(iterative closest point) algorithms by updating velocity. Even though ICP algorithms play a dominant role in a model based tracking, it is difficult to avoid an accumulated tracking error during a continuous motion. It is because that typical ICP algorithms assumes that each of the point in one scan are measured simultaneously while most of the available rangefinders measure each point sequentially. Hence conventional ICP algorithms are prone

The Internet of Things (IoT) promises to bring immense value to various sectors by increasing efficiency and creating better experiences for the user. Currently, IoT works in a centralized, client-server model where data generated is stored and managed in centralized cloud servers. A concept of decentralized, peer-to-peer computing can ensure reliability, privacy, and interoperability in data management among IoT applications. The InterPlanetary File System (IPFS) is a peer-to-peer version-contr

Abstract Recent progress in Device-Free Wi-Fi Sensing (DFWS) has established the use of wireless signals like Wi-Fi not only to communicate but also as a tool to enable device-free sensing. As an emerging technique, DFWS has many capable applications such as sensing activity and gesture and fall detection, monitoring elderly, surveillance, and many more applications while waiving out the necessity to mount devices on the object. A wide range of applications can use the channel state information

This paper describes an augmented reality (AR) multimodal interface that uses speech and paddle gestures for interaction. The application allows users to intuitively arrange virtual furniture in a virtual room using a combination of speech and gestures from a real paddle. Unlike other multimodal AR applications, the multimodal fusion is based on the combination of time-based and semantic techniques to disambiguate a users speech and gesture input. We describe our AR multimodal interface architec

Purpose This paper aims to examine the changing backdrop of the consumer market in relation to three-dimensional (3D) printing, especially in the context of Web infrastructure that connects consumers and producers with unprecedented diversity and scale and Web 2.0 user-created content in the material domain. Design/methodology/approach The paper presents a conceptual architecture and software platform that facilitates do-it-yourself reconfiguration of existing products incorporating 3D printing,

This paper presents an approach to utilize UPnP as a middleware for robots. It describes the advantages of UPnP by comparing UPnP with TAO CORBA that was used in a few robot development projects. In order to consider real situation, we select a sample robot architecture, and examine the possibility of UPnP as a robot middleware with the robot architecture. This paper shows how UPnP architecture can be applied to building a robot in the view of software architecture, message mapping, realtime, ne

Recent advanced interface technologies allow the user to interact with different spaces such as Virtual Reality (VR), Augmented Reality (AR) and Ubiquitous Computing (UC) spaces. Previously, human computer interaction (HCI) issues in VR, AR and UC have been largely carried out in separate communities. Here, we combine these three interaction spaces into a single interaction space, called Tangible Space. We propose the VARU framework which is designed for rapid prototyping of a tangible space app

The UPnP (universal plug and play) defines an architecture for pervasive peer-to-peer network connectivity of intelligent appliances. It shares the service oriented architecture with emerging Web service technology, and has many advantages for future robot middleware such as automatic discovery of services and accommodation of dynamic distributed computing environment. However, the UPnP needs some additional features for being used as a robot middleware. This paper discusses them, and presents s

Despite the proliferation of wearable devices and mobile apps for healthcare activity monitoring, no model that complementarily integrates these monitoring logs making up personal big data has been put forth. In addition, such datasets are too large to yield meaningful information. To deal with data from heterogeneous sources, a common format and information fusion model for the complementary aggregation and abstraction of logs are necessary. We introduce a sensor and activity model that classif

Abstract This paper presents an integration method that constructs a feature model either by inserting new features or by recognizing features from existing geometric model. The integration is made possible by keeping the feature model data structure that is identical whether constructed by the feature insertion or the recognition. This overcomes the representational mismatch between the procedural feature-based modeling framework and the feature recognition framework. The integrated framework h