• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.101.1-101
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• 2001

This paper describes a grid mapping for a vision based mobile robot in uncertain indoor environment. The map building is a prerequisite for navigation of a mobile robot and the problem of feature correspondence across two images is well known to be of crucial Importance for vision-based mapping We use a stereo matching algorithm obtained by singular value decomposition of an appropriate correspondence strength matrix. This new correspondence strength means a correlation weight for some local measurements to quantify similarity between features. The visual range data from the reconstructed disparity image form an occupancy grid representation. The occupancy map is a grid-based map in which each cell has some value indicating the probability at that location ...

• 한국지하수토양환경학회:학술대회논문집
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• 한국지하수토양환경학회 2004년도 임시총회 및 추계학술발표회
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• pp.446-449
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• 2004

High resolution geophysical imaging to delineate costal aquifer and seawater- freshwater interface has been applied in Baesu-eup, Yeonggwang-gun, Jeolla province Electrical resistivity information from vertical electrical sounding and 2-D electrical resistivity survey is key parameter to map equivalent Nacl concentration map over the survey area. Seismic velocity from refraction tomographic survey, on the other hand, gives more reliable information on the subsurface stratagraphy than electrical resistivity methods which frequently suffer from low resolution due to masking effect. We imaged high-resolution 3-D structure of costal aquifer by correlating the electrical resistivity with seismic velocity, and mapped equivalent NaCl concentration map using resistivity and hydro-geological information from well logging.

• 로봇학회논문지
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• 제3권1호
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• pp.33-41
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• 2008

Based on object recognition technology, we present a new global localization method for robot navigation. For doing this, we model any indoor environment using the following visual cues with a stereo camera; view-based image features for object recognition and those 3D positions for object pose estimation. Also, we use the depth information at the horizontal centerline in image where optical axis passes through, which is similar to the data of the 2D laser range finder. Therefore, we can build a hybrid local node for a topological map that is composed of an indoor environment metric map and an object location map. Based on such modeling, we suggest a coarse-to-fine strategy for estimating the global localization of a mobile robot. The coarse pose is obtained by means of object recognition and SVD based least-squares fitting, and then its refined pose is estimated with a particle filtering algorithm. With real experiments, we show that the proposed method can be an effective vision- based global localization algorithm.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2003년도 Proceedings of ACRS 2003 ISRS
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• pp.96-99
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• 2003

Land cover map is a typical GIS database which shows the Earth's physical surface differentiated by standardized homogeneous land cover types. Satellite images acquired by Landsat TM were primarily used to produce a land cover map of 7 land cover classes; however, it now becomes to produce a more accurate land cover classification dataset of 23 classes thanks to higher resolution satellite images, such as SPOT-5 and IKONOS. The use of the newly produced high resolution land cover map of 23 classes for such activities to estimate non-point sources of pollution like water pollution modeling and atmospheric dispersion modeling is expected to result a higher level of accuracy and validity in various environmental monitoring results. The estimation of pollution from non-point sources using GIS-based modeling with land cover dataset shows fairly accurate and consistent results.

• 대한임베디드공학회논문지
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• 제19권2호
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• pp.115-121
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• 2024

Each ADS must have a validation and evaluation scenario for ODD. This requires a large number of scenarios, so a scenario library must be developed. In order to effectively utilize the scenario library, a system that supports testing in the ODD of the user's choice is required. In other words, in order to develop a scenario library, it is necessary to build a database on actual driving road conditions (geometry, etc.). Accordingly, in this study, we establish a domestic driving environment database based on HD-Map for driving safety testing, design a system that can search test target sections in connection with the ODD of the scenario, and present the implementation results. In the future, it is expected that the domestic driving environment database will be able to create scenarios through linking with the scenario library and directly utilize them for scenario-based evaluation of various demand sources.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.567-569
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• 2006

This study proposes the method to make a map of moving environment area and passed area by sensor using for recognizing environment or avoiding obstacle. We win develop an efficient algorithm to use sensors and get the data by the user friendly system. Through this system, we win study the way to know of the driving environment of moving robot on the long distance point. To this, we use only one ultra-sonic sensor with a servo motor which rotates 180 degree and loads an ultra-sonic sensor. A sensor can measure 1m${\sim}$8m range and a servo motor can distinguish 15 degree by 12 divide of 180 degree. By this feature of operating system, the robot which has these sensor module detects around of area and moves another point. In this way, users gather the data of detecting distance and change the data to X-Y coordinates. And users derive a map from these accumulate data.

• 한국정밀공학회지
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• 제22권12호
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• pp.61-69
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• 2005

This paper presents an efficient method of extracting line segments from the occupancy grids in a grid map. The grid map is composed of 2-D grids that have both the occupancy and orientation probabilities using sonar sensors. We evaluate the orientation information of every grid when the occupancy probability of the grid is updated from sonar range data. To find the shape of an object in the map from orientation information, the orientations are clustered into several groups according to their values. The line segments are, then, extracted from the clusters based on Hough transform. Finally, a feature-based map is built with these line segments. The proposed method is illustrated with the results produced by sets of experiments in an indoor environment.

• 로봇학회논문지
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• 제9권4호
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• pp.242-249
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• 2014

By a SLAM (simultaneous localization and mapping) method, we get a map of an environment for autonomous navigation of a robot. In this case, we want to know how accurate the map is. Or we want to know which map is more accurate when different maps can be obtained by different SLAM methods. So, several methods for map comparison have been studied, but they have their own drawbacks. In this paper, we propose a new method which compares the accuracy or error of maps relatively and quantitatively. This method sets many corresponding points on both reference map and SLAM map, and computes the translational and rotational values of all corresponding points using least-squares solution. Analyzing the standard deviations of all translational and rotational values, we can know the error of two maps. This method can consider both local and global errors while other methods can deal with one of them, and this is verified by a series of simulations and real world experiments.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.666-669
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• 2000

Localization is the process of aligning the robot's local coordinates with the global coordinates of a map. A mobile robot's location is basically computed by a dead reckoning scheme, but this position information becomes increasingly inaccurate during navigation due to odometry errors. In this paper, the method of building a map of a robot's environment using ultrasonic sensor data and the occupancy grid map scheme is briefly presented. Then, the search and matching algorithms to compensate for the odometry error by comparing the local map with the reference map are proposed and verified by experiments. It is shown that the compensated error is not accumulated and exists within the limited range.

• 한국GIS학회:학술대회논문집
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• 한국GIS학회 2003년도 공동 춘계학술대회 논문집
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• pp.629-636
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• 2003