• KIPS Transactions on Software and Data Engineering
• /
• v.12 no.5
• /
• pp.237-242
• /
• 2023

Research on high-performance walking robots is being actively conducted, and quadruped walking robots are receiving a lot of attention due to their excellent mobility and adaptability on uneven terrain, but they are difficult to introduce and utilize due to high cost. In this paper, to increase utilization by applying intelligent functions to a low-cost quadruped robot, we present a method of improving uneven terrain overcoming ability by mounting IMU and reinforcement learning on embedded board and automatically detecting objects using camera and deep learning. The robot consists of the legs of a quadruped mammal, and each leg has three degrees of freedom. We train complex terrain in simulation environments with designed 3D model and apply it to real robot. Through the application of this research method, it was confirmed that there was no significant difference in walking ability between flat and non-flat terrain, and the behavior of performing person detection in real time under limited experimental conditions was confirmed.

• Proceedings of the KSRS Conference
• /
• 2003.11a
• /
• pp.744-746
• /
• 2003

A 3D modeling of urban area can be composed the terrain modeling that can express specific and shape of the terrain and the object modeling such as buildings, trees and facilities which are found in urban areas. Especially in a 3D modeling of building, it is very important to make a unit model by simplifying 3D structure and to take a texture mapping, which can help visualize surface information. In this study, the texture mapping technique, based on library for 3D urban modeling, was used for building modeling. This technique applies the texture map in the form of library which is constructed as building types, and then take mapping to the 3D building frame. For effectively apply, this technique, we classified buildings automatically using LiDAR data and made 3D frame using LiDAR and digital map. To express the realistic building texture, we made the texture library using real building photograph.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.7
• /
• pp.697-703
• /
• 2011

This article describes a snake robot with 2-DOF actuator modules. The 2-DOF actuator modules make the snake robot move in the 3D space so that the snake robot can cross obstacles and rough terrain. Each 2-DOF actuator module is designed to have high torque output and an embedded controller. A cross bracket connecting the modules is designed be able to support the weight of two actuator modules. The developed snake robot shows 3-D motions such as side winding, standing/monitoring, and can climb in a narrow pipe with high torque modules. The snake robot moves fast with passive wheels in a plane while crossing obstacles.

• Journal of Korean Society for Geospatial Information Science
• /
• v.23 no.2
• /
• pp.59-67
• /
• 2015

When planning for streams, adequate and definite flood control should be in the primary consideration of the planner; likewise, flood control is the basic prerequisite for the recent river restoration taking place nationwide. Planning 'safe' streams and rivers that are predictable and controllable begins from accurate survey data. In this research, we will create streams in 3D terrain models and apply them through hydraulic analysis and restoration using smart geospatial information. This process allows the extraction of more accurate data regarding streams and rivers, which makes possible precise hydraulic analysis that is superior in details to the conventional methods. The study also proposes optimal vertical section interval for efficient data processing on hydraulic analysis, applicable when LiDAR data is utilized on hydraulic analysis of urban streams. The study proposes 3D design plan and various applications for spatially planning and restoring rivers and streams.

• 한국HCI학회:학술대회논문집
• /
• 2008.02a
• /
• pp.184-189
• /
• 2008

In this paper, the sound data either from the sampled or streamed source are utilized for generating a map in the video game play for the dynamiccal use of sound data and synesthesia to users. When users can generate sound in real-time or put the sampled source, it is analyzed and re-processed through Fourier transformation to show the 3D map in dynamic shape over time. We interpolate the generated data to enable the game agents and objects to move.

• Korean Journal of Remote Sensing
• /
• v.9 no.2
• /
• pp.21-34
• /
• 1993

Digitalized topographic information is necessary for many areas such as landscape analysis, civil engineering planning and design, and geographic information systems. It can also be used in flight simulator and automatic navigation of unmanned plane if it is stored in computer in relevant format. Topographic information is coded with various symbols including contour lines, and is analyzed by trained personnels. The information should be stored in computer for automatic analysis, but it requires a lot of time and manpower to enter the contours using manual input devices such as digitizing tablet. This paper deals with automatic extraction and reconstruction of 3D topographic information from 2D terrain map. Several algorithms were developed in this work including contour segment finding algorithm and contour segment linking algorithm. The algorithm were tested using real 2D terrain map.

• Geomechanics and Engineering
• /
• v.13 no.3
• /
• pp.411-429
• /
• 2017

A Spectral Element Method for 3D seismic wave propagation simulation is derived based on the three-dimensional fluctuating elastic dynamic equation. Considering the 3D real terrain and the attenuation characteristics of the medium, the topographic effect of Wenchuan earthquake is simulated by using the Spectral Element Method (SEM) algorithm and the ASTER DEM model. Results show that the high PGA (peak ground acceleration) region was distributed along the peak and the slope side away from the epicenter in the epicenter area. The overall distribution direction of high PGA and high PGV (peak ground velocity) region is parallel to the direction of the seismogenic fault. In the epicenter of the earthquake, the ground motion is to some extent amplified under the influence of the terrain. The amplification effect of the terrain on PGA is complicated. It does not exactly lead to amplification of PGA at the ridge and the summit or attenuation of PGA in the valley.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.65 no.2
• /
• pp.342-348
• /
• 2016

We propose an obstacle detection algorithm for unmanned ground vehicle on uneven terrain. The key ideas of the proposed algorithm are the use of two-layer laser range data to calculate the gradient of a target, which is characterized as either ground or obstacles. The proposed obstacle detection algorithm includes 4-steps: 1) Obtain the distance data for each angle from multiple lidars or a multi-layer scan lidar. 2) Calcualate the gradient for each angle of the uneven terrain. 3) Determine ground or obstacle for each angle on the basis of reference gradient. 4) Generate a new distance data for each angle for a virtual laser scanner. The proposed algorithm is verified by various experiments.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2017.04a
• /
• pp.30-31
• /
• 2017

본 연구는 게임을 비롯한 여러 가지 콘텐츠에서 활용하기 위해서 단일 이미지를 이용한 복층 구조의 지형을 제작하는 방법에 대해서 제안한다. 기존의 하이트맵(Heightmap)을 이용하여 복층구조를 제작했을 때의 문제점을 제시하며 어떻게 단일이미지 하이트맵(Heightmap)을 이용하여 복층 구조의 지형을 제작할수 있는지에 대한 방향을 제시한다. 본 논문에서는 단일 이미지의 RGBA값을 이용한 복층 구조 지형 제작 방식에 대한 실험을 통해 제안한 알고리즘을 검증한다.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2016.10a
• /
• pp.681-682
• /
• 2016

In this study we propose a novel approach to segment a terrain in two parts: ground and none-ground. The terrain is gained by a multi-channel 3D laser range sensor. We process each vertical line in each frame data. The vertical line is bounded by the sensor's position and a point in the largest circle of the frame. We consider each pair of two consecutive points in each line to find begin-ground and end-ground points. All points placed between a begin-ground point and an end-ground point are ground ones. The other points are none-ground. After examining all vertical lines in the frame, we obtain the terrain segmentation result.