• 한국생산제조학회지
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• 제20권2호
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• pp.133-138
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• 2011

RFID system can be used to improve object recognition, map building and localization for robot area. A novel method of indoor navigation system for a mobile robot is proposed using RFID technology. The mobile robot With a RFID reader and antenna is able to find what obstacles are located where in circumstance and can build the map similar to indoor circumstance by combining RFID information and distance data obtained from sensors. Using the map obtained, the mobile robot can avoid obstacles and finally reach the desired goal by $A^*$ algorithm. 3D map which has the advantage of robot navigation and manipulation is able to be built using z dimension of products. The proposed robot navigation system is proved to apply for SLAM and path planning in unknown circumstance through numerous experiments.

• 한국측량학회지
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• 제22권3호
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• pp.245-251
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• 2004

최근 지형공간정보 분야의 눈부신 발전과 함께 지적 분야에서도 지적도면 전산화 사업이 진행되고 있으며 다양한 토지관련 정보의 통합관리 및 활용을 위하여 토지정보 및 건물정보의 통합에 관한 요구가 증가하고 있지만 3차원지적제도 구축에 있어 기본이 되는 건물의 지적도 등록 시 전국에 산재되어 있는 수많은 건물을 일일이 지상측량방법을 통하여 지적도에 등록하는 것은 많은 어려움이 뒤따르는 실정이다. 이 연구에서는 유럽을 중심으로 활발히 연구되고 있는 3차원지적제도의 이론을 고찰하고 실험대상지역을 선정하여 지적기준점에서 토탈스테이션을 이용하여 건물위치를 직접 측량하였고, 수치지형도와 수치정사영상을 제작하여 건물위치를 측량한 후 건물좌표들을 비교 분석하여 지적도에 건물등록 시 가장 효율적인 측량 방법을 제시하고 지적도에 건물을 등록한 후 등록된 건물에 기존 토지지번과는 별도로 새로운 건물번호를 식별자로 부여하여 지적도를 제작하였고, 건축물관리대장과 건물등기부 및 관련 속성정보와 건물사진 등을 연계하여 토지와 건물관리를 통합 관리할 수 있는 새로운 3차원정보지적도 모델을 구축 하였다.

• 한국측량학회:학술대회논문집
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• 한국측량학회 2006년도 춘계학술발표회 논문집
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• pp.369-373
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• 2006

본 연구는 3차원 도시 모델링을 위해 라이브러리 기반의 texture mapping 기법을 사용하여 건물 모델을 제작하였다. 이 기법은 건물의 종류 및 특성에 따라 라이브러리 형태로 구축되어있는 texture map을 선택, 출력하여 3차원 건물 프레임에 mapping하는 과정으로 이루어진다. 이 기법의 효과적인 적용을 위해 LiDAR 데이터를 이용하여 건물을 자동적으로 분류하였고, LiDAR 데이터와 수치지도를 이용하여 단위 모델 구현을 위한 건물의 3차원 프레임을 제작하였다. 또한 사실감 있는 건물 texture를 구현하기 위해 실제 건물의 지상사진을 이용하여 texture map 라이브러리를 구축하였다.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2003년도 Proceedings of ACRS 2003 ISRS
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• pp.744-746
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• 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.

• 제어로봇시스템학회논문지
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• 제16권3호
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• pp.239-244
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• 2010

This paper is to present map building of mobile robot using RFID (Radio Frequency Identification) technology and ultrasonic sensor. For mobile robot to perform map building, the mobile robot needs its localization and accurate driving in space. In this reason, firstly, kinematic modeling of mobile robot under non-holonomic constrains is introduced. Secondly, based on this modeling, a tracking controller is designed for tracking a given path based on backstepping method using Lyapunov function. The Lyapunov function is also introduced for proving the stability of the designed tracking controller. Thirdly, 2D map building is performed by RFID system, mobile robot system and ultrasonic sensors. The RFID mobile robot system is composed of DC motor, encoder, ultra sonic sensor, digital compass, RFID receiver and RFID antenna. Finally, the path tracking simulation results and map building experimental results are presented to show the effectiveness of the designed controller.

• 한국콘텐츠학회논문지
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• 제1권1호
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• pp.15-23
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• 2001

인터넷 공간에서의 지도표현과 지도위에 나타나는 각종 건물의 표현은 건물의 위치와 건물이 차지하는 토지의 경계선만이 보여지므로 구체적인 건물의 내용을 파악하기란 매우 힘들다. 본 연구에서는 기존의 수치지도를 재편집한 2차원적 지도의 건물정보 관리와 하이퍼맵에 의한 WEB-GIS형태로 구현된 맵에 지역의 건물정보와 부가정보를 연계시킨 새로운 형태의 건물을 인터넷 도시공간에 거의 3차원의 아이콘으로 보여주는 형태로서 표현함으로서 시각적인 건물정보의 관리가 가능한 실험적 연구를 시도하였다. 본 연구에서는 맵상에 2.5D형태로 보여지는 아이콘에 하이퍼링크된 건물에 대한 속성 정보를 관리하도록 설계된 웹기반 건물관리시스템을 보여줌으로써, 하이퍼맵 상에서 시각적으로 보여지는 아이콘에 건물의 각종 속성 정보를 입력하여 이를 웹상에서 시각적으로 재현함으로써, 사용자로 하여금 기존 지도상의 건물과 실제 건물 사이와의 이질적인 문제점을 보완하여 보다 친숙한 도시공간을 제공하여, 누구든지 인터넷 환경에서 제약을 받지 않고 통신이 가능한 지역이면 어디서든지 건물에 대한 정보를 파악하여 활용 가능한 시스템을 구현하였다.

• 한국자동차공학회논문집
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• 제22권6호
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• pp.14-22
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• 2014

An autonomous vehicle requires a technology of generating maps by recognizing surrounding environment. The recognition of the vehicle's environment can be achieved by using distance information from a 2D laser scanner and color information from a camera. Such sensor information is used to generate 2D or 3D maps. A 2D map is used mostly for generating routs, because it contains information only about a section. In contrast, a 3D map involves height values also, and therefore can be used not only for generating routs but also for finding out vehicle accessible space. Nevertheless, an autonomous vehicle using 3D maps has difficulty in recognizing environment in real time. Accordingly, this paper proposes the technology for generating 2D maps that guarantee real-time recognition. The proposed technology uses only the color information obtained by removing height values from 3D maps generated based on the fusion of 2D laser scanner and camera data.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.536-538
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• 2006

The most important factor of mobile robot is to build a map for surrounding environment and estimate its localization. This paper proposes a real-time localization and map building method through 3-D reconstruction using scale invariant feature from monocular camera. Mobile robot attached monocular camera looking wall extracts scale invariant features in each image using SIFT(Scale Invariant Feature Transform) as it follows wall. Matching is carried out by the extracted features and matching feature map that is transformed into absolute coordinates using 3-D reconstruction of point and geometrical analysis of surrounding environment build, and store it map database. After finished feature map building, the robot finds some points matched with previous feature map and find its pose by affine parameter in real time. Position error of the proposed method was maximum. 8cm and angle error was within $10^{\circ}$.

• 한국기계가공학회지
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• 제21권4호
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• pp.114-130
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• 2022

The purpose of this study was to investigate the possibility of increasing the efficiency of disaster relief rescue operations through collaboration among multiple aerial and ground robots. The robots create 2.5D maps, which are merged into a 2.5D map. The 2.5D map can be handled by a low-specification controller of an aerial robot and is suitable for ground robot navigation. For localization of the aerial robot, a six-degree-of-freedom pose recognition method using VIO was applied. To build a 2.5D map, an image conversion technique was employed. In addition, to merge 2.5D maps, an image similarity calculation technique based on the features on a wall was used. Localization and navigation were performed using a ground robot to evaluate the reliability of the 2.5D map. As a result, it was possible to estimate the location with an average and standard error of less than 0.3 m for the place where the 2.5D map was normally built, and there were only four collisions for the obstacle with the smallest volume. Based on the 2.5D map building and map merging system for the aerial robot used in this study, it is expected that disaster response work efficiency can be improved by combining the advantages of heterogeneous robots.

• 지구물리
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• 제9권1호
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• pp.7-19
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• 2006

Laser scanning is a new technology for obtaining Digital Surface Models(DSM) of the earth surface.It is a fast method for sampling the earth surface with high density and high point accuracy. This paper is for buildings extraction from LiDAR points data. The core part of building construction is based on a parameters filter for distinguishing between terrain and non-terrain laser points. The 3D geometrical properties of the building facades are obtained based on plane fitting using least-squares adjustment. The reconstruction part of the procedure is based on the adjacency among the roof facades. Primitive extraction and facade intersections are used for building reconstruction. For overcome the difficulty just reconstruct of laser points data used with digital camera images. Also, 3D buildings of city area reconstructed using digital map. Finally, In this paper show 3D building Modeling using digital map and LiDAR data.