1 Department of Information and Communication Engineering, and Convergence Engineering for Intelligent Drone, Sejong University, Seoul, Republic of Korea.
2 Department of Artificial Intelligence, Sejong University, Seoul, Republic of Korea.
3 Department of Computer Science and Engineering, Sejong University, Seoul, Republic of Korea.
4 Department of Architectural Engineering, Sejong University, 209 Neungdong-ro, Gwangjin-gu, Seoul, 05006, Republic of Korea.
5 Department of Computer Science and Engineering, Sejong University, Seoul, Republic of Korea. hmoon@sejong.ac.kr.