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천세범,이영재,원대희,허문범 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.2
A single vision system is the simplest vision-based method of simultaneous localization and mapping (SLAM) but it cannot reduce navigation errors that occur in the direction of the optical axis of vision sensors. Moreover, the limited observation area of vision sensors sometimes leads to failure in tracking a feature point. A vision sensor–based inertial navigation system INS/SLAM integrated system performs better with multiple vision sensors than with a single vision sensor because the observation area is wider and the impact of the sensitivity of the vision sensors is considerably smaller. However, the geometrical arrangement of multiple vision sensors induces navigation errors. This paper analyzes how the performance of the vision sensor–based INS/SLAM integrated system varies in relation to the geometrical arrangement of multiple vision sensors and the observation area of the vision sensors. The analysis shows that vertical navigation errors decline when the vision sensors are aimed horizontally, and that horizontal navigation errors decline in a similar manner when the vision sensor is aimed vertically; moreover, this behavior is especially evident when the level of sensitivity peaks in the horizontal direction.
천세범,서재희,이상우,허문범 사단법인 항법시스템학회 2016 Journal of Positioning, Navigation, and Timing Vol.5 No.3
A variety of methods for indoor positioning systems have been underway to ensure the safety of emergency rescuers who are working in dangerous situations such as fire fighters. However, since most systems display locations of rescue workers in twodimension (2D)-based maps, it is difficult for a commander located in the outside to recognize locations of rescuers inside the building intuitively. An augmented reality (AR)-based indoor positioning monitoring system can display locations of rescuer inside the building that can be seen by commanders to help intuitive recognition of positioning. To monitor AR-based indoor positioning, it is necessary to have an estimation technique of line of sight vector of observers. In the present study, an estimation technique of a line of sight vector using ultra-wide band tranceiver installed inside the indoor to trace locations is presented.
동적 분석을 이용한 난독화 된 실행 프로그램의함수 호출 그래프 생성 연구
천세범,김대엽 한국전기전자학회 2023 전기전자학회논문지 Vol.27 No.1
As one of the techniques for analyzing malicious code, techniques creating a sequence or a graph of functioncall relationships in an executable program and then analyzing the result are proposed. Such methods generallystudy function calling in the executable program code through static analysis and organize function callrelationships into a sequence or a graph. However, in the case of an obfuscated executable program, it is difficultto analyze the function call relationship only with static analysis because the structure/content of the executableprogram file is different from the standard structure/content. In this paper, we propose a dynamic analysis methodto analyze the function call relationship of an obfuscated execution program. We suggest constructing a functioncall relationship as a graph using the proposed technique. 악성코드 분석을 위한 기술 중 하나로 실행 프로그램의 함수 호출 관계를 시퀀스 또는 그래프 작성한 후, 그 결과를 분석하는 기술이 제안되었다. 이러한 기술들은 일반적으로 실행 프로그램 파일의 정적 분석을 통해 함수 호출 코드를 분석하고, 함수 호출 관계를 시퀀스 또는 그래프로 정리한다. 그러나 난독화 된 실행 프로그램의 경우, 실행 프로그램 파일의 구성이 표준구성과 다르기 때문에 정적분석 만으로는 함수 호출관계를 명확히 분석하기 어렵다. 본 논문에서는 난독화 된 실행 프로그램의 함수 호출관계를 분석하기 위한 동적 분석 방법을 제안하고, 제안된 기술을 이용하여 함수 호출관계를 그래프로 구성하는 방법을 제안한다.