• Korean Journal of Heritage: History & Science
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• v.51 no.2
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• pp.22-37
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• 2018

Unmanned aerial vehicles (UAV) have attracted considerable attention both at home and abroad. The UAV is equipped with a camera that shoots images, which is advantageous for access to areas where archaeological investigations are not possible. Moreover, it is possible to acquire three-dimensional spatial image information by modeling the terrain through aerial photographing, and it is possible to specify the interpretation of the terrain of the survey area. In addition, if we understand the change of the terrain through comparison with past aerial photographs, it will be very helpful to grasp the existence of the ruins. The terrain modeling for searching these remains can be divided into two parts. First, we acquire the aerial photographs of the current terrain using the drone. Then, using image registration and post-processing, we complete the image-joining and terrain-modeling using past aerial photographs. The completed modeled terrain can be used to derive several analytical results. In the present terrain modeling, terrain analysis such as DSM, DTM, and altitude analysis can be performed to roughly grasp the characteristics of the change in the form, quality, and micro-topography. Past terrain modeling of aerial photographs allows us to understand the shape of landforms and micro-topography in wetlands. When verified with actual findings and overlapping data on the modelling of each terrain, it is believed that changes in hill shapes and buried Microform can be identified as helpful when used in low-flying applications. Thus, modeling data using aerial photographs is useful for identifying the reasons for the inability to carry out archaeological surveys, the existence of terrain and ruins in a wide area, and to discuss the preservation process of the ruins. Furthermore, it is possible to provide various themes, such as cadastral maps and land use maps, through comparison of past and present topographical data. However, it is certain that it will function as a new investigation methodology for the exploration of ruins in order to discover archaeological cultural properties.

• Korean Journal of Remote Sensing
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• v.38 no.6_3
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• pp.1827-1836
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• 2022

Disasters that occur unexpectedly are difficult to predict. In addition, the scale and damage are increasing compared to the past. Sometimes one disaster can develop into another disaster. Among the four stages of disaster management, search and rescue are carried out in the response stage when an emergency occurs. Therefore, personnel such as firefighters who are put into the scene are put in at a lot of risk. In this respect, in the initial response process at the disaster site, robots are a technology with high potential to reduce damage to human life and property. In addition, Light Detection And Ranging (LiDAR) can acquire a relatively wide range of 3D information using a laser. Due to its high accuracy and precision, it is a very useful sensor when considering the characteristics of a disaster site. Therefore, in this study, development and experiments were conducted so that the robot could perform real-time monitoring at the disaster site. Multi-sensor module was developed by combining LiDAR, Inertial Measurement Unit (IMU) sensor, and computing board. Then, this module was mounted on the robot, and a customized Simultaneous Localization and Mapping (SLAM) algorithm was developed. A method for stably mounting a multi-sensor module to a robot to maintain optimal accuracy at disaster sites was studied. And to check the performance of the module, SLAM was tested inside the disaster building, and various SLAM algorithms and distance comparisons were performed. As a result, PackSLAM developed in this study showed lower error compared to other algorithms, showing the possibility of application in disaster sites. In the future, in order to further enhance usability at disaster sites, various experiments will be conducted by establishing a rough terrain environment with many obstacles.