• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.355-361
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• 2006

In large scale environments like airport, museum, large warehouse and department store, autonomous mobile robots will play an important role in security and surveillance tasks. Robotic security guards will give the surveyed information of large scale environments and communicate with human operator with that kind of data such as if there is an object or not and a window is open. Both for visualization of information and as human machine interface for remote control, a 3D model can give much more useful information than the typical 2D maps used in many robotic applications today. It is easier to understandable and makes user feel like being in a location of robot so that user could interact with robot more naturally in a remote circumstance and see structures such as windows and doors that cannot be seen in a 2D model. In this paper we present our simple and easy to use method to obtain a 3D textured model. For expression of reality, we need to integrate the 3D models and real scenes. Most of other cases of 3D modeling method consist of two data acquisition devices. One for getting a 3D model and another for obtaining realistic textures. In this case, the former device would be 2D laser range-finder and the latter device would be common camera. Our algorithm consists of building a measurement-based 2D metric map which is acquired by laser range-finder, texture acquisition/stitching and texture-mapping to corresponding 3D model. The algorithm is implemented with laser sensor for obtaining 2D/3D metric map and two cameras for gathering texture. Our geometric 3D model consists of planes that model the floor and walls. The geometry of the planes is extracted from the 2D metric map data. Textures for the floor and walls are generated from the images captured by two 1394 cameras which have wide Field of View angle. Image stitching and image cutting process is used to generate textured images for corresponding with a 3D model. The algorithm is applied to 2 cases which are corridor and space that has the four wall like room of building. The generated 3D map model of indoor environment is shown with VRML format and can be viewed in a web browser with a VRML plug-in. The proposed algorithm can be applied to 3D model-based remote surveillance system through WWW.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.45 no.3
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• pp.1-10
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• 2008

An occupancy map is a representation methodology describing the region occupied by objects in 3D space, which can be utilized for autonomous navigation and object recognition. In this paper, we describe a technique for building an occupancy map using depth data extracted from stereo images. In addition, some techniques are proposed for utilizing the occupancy map for the segmentation of object regions. After the geometric information on the ground plane is extracted from a disparity image, the occupancy map is constructed by projecting each matched point to the ground plane-based 3D space. We explain techniques for extracting moving object regions using the occupancy map and present experimental results using real stereo images.

• Journal of Environmental Impact Assessment
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• v.15 no.4
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• pp.271-277
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• 2006

In this study, we investigated the applicable plan of GIS on the environmental impact assessment of 60 Hz Powerline. So we assessed distance data based on calculations by use of 2D and 3D Geographical information systems(GIS) and distance data based on measurements on 1: 5000 maps accord with on site distance measurements to use input data for calculating magnetic field. One hundred eight of the on site measured addresses were selected from residences. The data were achieved by measuring the distance between residence and power line on maps with scales of 1: 5000. The digital map was obtained from National Geographic Information Institute with scales of 1: 5000, and we made 2D and 3D map. Correlation analyses were performed for statistical analyses. For the 3D GIS versus on site comparison of different exposure categories, 70 of 108 measurements were assigned to the correct category. Similarly for 2D GIS versus on site comparison, 71 of 108 were correctly categorized. When comparing map measurement with on site measurement, 62 of 108 were correctly categorized. When the correlation analysis was performed, best correlation was found between 3D GIS and on site measurements with r = 0.84947 (p<0.0001). The correlation between map and on site measurement yielded an r of 0.76517 (p<0.0001). Since the GIS measurements and map measurement were made from the center point in the building and the on site measurements had to be made from the closest wall on the building, this might introduce and additional error in urban areas. The difference between 2D and 3D calculations were resulted from the height of buildings.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2003.10a
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• pp.303-308
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• 2003

Facility management system has been studied recently due to its increasing demand. As a starting step it is necessary to create 3-D shape of the facility. In this study, we attempted to create 3-D shape of the buildings by fusing the raster and vector information. the raster information comes from stereo aerial photographs and the vector information comes from the existing 2-D digital map. GPS surveying and data conversion using ACAD and ARCINFO also performed to extract building height from stereo aerial photographs. Finally we could be able to perform semi-automatic 3-D building modeling with fusion of two sources of information.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.25 no.1
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• pp.19-30
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• 2007

Modeling 3D buildings is an essential process to revive the real world into a computer. There are two ways to create a 3D building model. The first method is to use the building layer of 1:1000 digital maps based on high density point data gained from airborne laser surveying. The second method is to use LiDAR point data with digital images achieved with LiDAR. In this research we tested one sheet area of 1:1000 digital map with both methods to process a 3D building model. We have developed a process, analyzed quantitatively and evaluated the efficiency, accuracy, and reality. The resulted differed depending on the buildings shape. The first method was effective on simple buildings, and the second method was effective on complicated buildings. Also, we evaluated the accuracy of the produced model. Comparing the 3D building based on LiDAR data and digital image with digital maps, the horizontal accuracy was within ${\pm}50cm$. From the above we derived a conclusion that 3D building modeling is more effective when it is based on LiDAR data and digital maps. Using produced 3D building modeling data, we will be utilized as digital contents in various fields like 3D GIS, U-City, telematics, navigation, virtual reality and games etc.

• Journal of Multimedia Information System
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• v.6 no.1
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• pp.23-30
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• 2019

A communications profile is a system that acquires information from communication links to an ambulance or other vehicle moving on a road and compiles a database based on this information. The equipment (six sets of HDTVs, fish-eye camera, satellite antenna with tracking system, and receiving power from the satellite beacon of the N-star) mounted on the roof of the vehicle, image data were obtained at Yokohama Japan. From these data, the polygon of the building was actually produced and has arranged on the map of the Geographical Survey Institute of a 50 m-mesh. The optical study (relationship between visibility rate and elevation angle) were performed on actual data taken by fish-eye lens, and simulated data by 3D-Map with polygons. There was no big difference. This 3D map system then predicts the communication links that will be available at a given location. For line-of-sight communication, optical analysis allows approximation if the frequency is sufficiently high. For non-line-of-sight communication, previously obtained electric power data can be used as reference information for approximation in certain cases when combined with predicted values calculated based on a 3D map. 3D maps are more effective than 2D maps for landing emergency medical helicopters on public roadways in the event of a disaster. Using advanced imaging technologies, we have produced a semi-automatic creation of a high-precision 3D map at Yokohama Yamashita Park and vicinity and assessed its effectiveness on telecommunications and ambulatory merits.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.12
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• pp.1053-1060
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• 2016

As location recognition for autonomous vehicles develops, the need for a precise map for autonomous driving has increased. A precise map must be built based upon accurate position. Recent studies have accelerated research in this area by using various sensors that calculate the accurate position by comparing and recognizing objects around the roads. However, application of such methods is limited because these studies only take objects with significant verticality into consideration. Thus, new research is needed to overcome the limitations: a method that is not constrained by the existence of certain types of surrounding objects shall be proposed. Most roads contain road marking information, such as lanes, direction signs, and pedestrian crossings. Such information on the road surface is a valuable resource for building a precise map. This paper proposes a method of building a precise map by using road marking information.

• Journal of IKEEE
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• v.12 no.1
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• pp.51-58
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• 2008

This paper presents a new method for building detection and reconstruction from aerial images. In our approach, we extract the useful building location information from the generated disparity map to obtain the segmentation of interested objects and thus reduce significantly unnecessary line segment extracted in low level feature extraction step. Hypothesis selection is carried out by using undirected graph in which close cycles represent complete rooftops hypotheses, and hypothesis are finally tested to contruct building model. We test the proposed method with synthetic images generated from Avenches dataset of Ascona aerial images. The experiment result shows that the extracted 3D line segments of the buildings can be efficiently used for the task of building detection and reconstruction from aerial images.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.29 no.6
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• pp.621-629
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• 2011

According to the development of technologies for generating the 3D spatial information, the needs for producing and updating the precise 3D objects with LoD 4 level are increased. On the other hand, the needs for real-time updating of 2D digital maps are expanded, based on the execution of various GIS projects. These 2D informations can be extracted from precisely constructed 3D spatial information, to do this the feasibility studies on extraction of the 2D information from the 3D spatial information is needed. In this study, 3D objects are modeled using multi-oblique images, and the objects are stereo-plotted using digital airborne images, as well. Then the two data sets are compared and analyzed. The results show that the accuracy assessments fulfill the 1/1,000 digital map accuracy standard of regulations for photogrametric surveying of National Geographic Information Institute, but the shapes and the areas of building objects are different between two data sets because of the portrayal standards. Consequently, researchers can conclude that it is possible to generate the building layer of large scale topographic map using multi-oblique images, but additional researches is needed to resolve the problems on differences of the portrayal standards.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.48 no.1
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• pp.1-7
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• 2011

Terrain, building location and area, and building shape information is in need of implementing 3D map. This paper proposes a method of extracting a building area by an improved semi-automatic snake algorithm. The method consists of 3-stage: pre-processing, initializing control points, and applying an improved snake algorithm. In the first stage, after transforming a satellite image to a gray image and detecting the approximate edge of the gray image, the method combines the gray image and the edge. In the second stage, the user looks for the center point of a building and the system sets the circular or rectangular initial control points by an procedural method. In the third stage, the enhanced snake algorithm extracts the building area. In particular, this paper sets the one tenn of the snake in a new way in order to use the proposed method for specializing building area extraction. Finally, this paper evaluated the performance of the proposed method using sky view satellite image and it showed that the matching percentage to the exact building area is 75%.