• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.745-752
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• 2016

We suggest an efficient Simultaneous Localization and 3D Polygon Map Building (SLAM) method with Kinect depth sensor for mobile robots in indoor environments. In this method, Kinect depth data is separated into row planes so that scan line segments are on each row plane. After grouping all scan line segments from all row planes into line groups, a set of 3D Scan polygons are fitted from each line group. A map matching algorithm then figures out pairs of scan polygons and existing map polygons in 3D, and localization is performed to record correct pose of the mobile robot. For 3D map-building, each 3D map polygon is created or updated by merging each matched 3D scan polygon, which considers scan and map edges efficiently. The validity of the proposed 3D SLAM algorithm is revealed via experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1153-1163
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• 2014

An efficient 3D SLAM (Simultaneous Localization and Map Building) method is developed for urban building environments using a tilted 2D LRF (Laser Range Finder), in which a 3D map is composed of perpendicular/horizontal planar polygons. While the mobile robot is moving, from the LRF scan distance data in each scan period, line segments on the scan plane are successively extracted. We propose an "expected line segment" concept for matching: to add each of these scan line segments to the most suitable line segment group for each perpendicular/horizontal planar polygon in the 3D map. After performing 2D localization to determine the pose of the mobile robot, we construct updated perpendicular/horizontal infinite planes and then determine their boundaries to obtain the perpendicular/horizontal planar polygons which constitute our 3D map. Finally, the proposed SLAM algorithm is validated via extensive simulations and experiments.

• 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 Convergence Technology
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• v.12 no.1
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• pp.1-5
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• 2022

This paper describes an algorithm for generating a terrain using a noise function and a height map as one of the procedural terrain generation methods. The polygon mesh data structure to represent the generated terrain concisely and render it is also described. The Perlin noise function is used as the noise technique for terrain mesh, and the height data of the terrain is generated by combining the four noise waves. In addition, the terrain height information can be also obtained from actual image data taken from the satellite. The algorithm presented in this paper generates the geometry part of the polygon topography from the height data obtained, and generated a material for texture mapping with two textures, that is, a diffuse texture and a normal texture. The validity of the terrain method proposed in this paper is verified through application examples, and its possibility can be confirmed through performance verification.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.26 no.2
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• pp.165-173
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• 2008

This study aims at generating automatically three dimensional geometric models of roads using LIDAR data and a digital map. The main processes in the proposed method are (1) generating a polygon encompassing a road region using a road layer from the digital map, (2) extracting LIDAR points within the road region using the polygon, (3) organizing the points into surface patches and grouping the patches into surface clusters, (4) searching the road surface clusters and generating the surface model from the points linked to the clusters, (5) refining the boundary using a digital map. By applying the proposed method to real data, we successfully generated the linear and surface information of the roads.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.6
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• pp.1333-1337
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• 2011

3D engines loading, and expansion of the usable capacity, next-generation smartphone game markets are rising briskly by the improvement in CPU processing speed of Phones (hardware of smartphone). Therefore, in creating 3D game characters, realistic and free-form animations in a small screen of a smartphone are becoming important. Through this paper, as a method of creating characters and operating for game characters to cause user's feeling, with NURBS data of MAYA, We completed a face in turns of eyes, a nose, and a mouth, and with Polygon Cube tool, modeled hands and feet. After dividing a cube into half and modeling it, through mirror copying We completed the whole body and modeled the low-polygon. Then to model realistic and free-form characters, We completed each detail with ZBrush and applied Divide level up to 4. Though they might look rough and exaggerated, We tried to express stuck-out parts and fallen-in parts effectively and smoothly with Smooth brush effect, map and design the low-polygon 3D characters.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.28-30
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• 2009

This paper describes a 3-DTIP(3-D Tour Into Picture) using depth map for a Korean classical painting being composed of persons and landscape. Unlike conventional TIP methods providing 2-D image or video, our proposed TIP can provide users with 3-D stereoscopic contents. Navigating inside a picture provides more realistic and immersive perception. The method firstly makes depth map. Input data consists of foreground object, background image, depth map, foreground mask. Firstly we separate foreground object and background, make each of their depth map. Background is decomposed into polygons and assigned depth value to each vertexes. Then a polygon is decomposed into many triangles. Gouraud shading is used to make a final depth map. Navigating into a picture uses OpenGL library. Our proposed method was tested on "Danopungjun" and "Muyigido" that are famous paintings made in Chosun Dynasty. The stereoscopic video was proved to deliver new 3-D perception better than 2-D video.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2011.05a
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• pp.300-303
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• 2011

Owing to the improvement in CPU processing speed of Phones (hardware of smartphone), 3D engines loading, and expansion of the usable capacity, next-generation smartphone game markets are rising briskly. Therefore, in creating 3D game characters, realistic and free-form animations in a small screen of a smartphone are becoming important. Through this paper, as a method of creating characters and operating for game characters to cause user's feeling, with NURBS data of MAYA, We completed a face in turns of eyes, a nose, and a mouth, and with Polygon Cube tool, modeled hands and feet. After dividing a cube into half and modeling it, through mirror copying We completed the whole body and modeled the low-polygon. Then to model realistic and free-form characters, We completed each detail with ZBrush and applied Divide level up to 4. Though they might look rough and exaggerated, We tried to express stuck-out parts and fallen-in parts effectively and smoothly with Smooth brush effect, map and design the low-polygon 3D characters.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.83-86
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• 2005

This paper presents a method for point-based 3D building reconstruction using LiDAR data and digital map. The proposed method consists of three processes: extraction of building roof points, identification of roof types, and 3D building reconstruction. After extracting points inside the polygon of building, the ground surface, wall and tree points among the extracted points are removed through the filtering process. The filtered points are then fitted into the flat plane using ODR(Orthogonal Distance Regression). If the fitting error is within the predefined threshold, the surface is classified as a flat roof. Otherwise, the surface is fitted and classified into a gable or arch roof through RMSE analysis. Based on the roof types identified in automated fashion, the 3D building reconstruction is performed. Experimental results showed that the proposed method classified successfully three different types of roof and that the fusion of LiDAR data and digital map could be a feasible method of modelling 3D building reconstruction.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.1
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• pp.418-424
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• 2014

In this paper, we propose a boundary input method for video surveillance systems. Since intrusion of a moving object is decided by comparition of its position and the surveillance boundary, the boundary input method is a basic function in video surveillance. Previous methods are difficult to adapt to the change of surveillance environments such as the size of surveillance area, the number of cameras, and the position of cameras because those build up the surveillance boundary using the captured image in the center of each camera. In our approach, the whole surveillance boundary is once defined in the form of polygon based on the satellite map and transformed into each camera environment. Its characteristics is that the boundary input is independent from the surveillance environment. Given the position of a moving object, the time complexity of its intrusion detection shows O(n), where n is the number of polygon vertices. To verify our method, we implemented a 3D simulation and assured that the input boundary can be reused in each camera without any redefinition.