• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.396-401
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• 2004

Recently a framework for the cognition-based navigational planning of a mobile robot on dynamic environment has been proposed, and simulation results applied it to the static environment been presented [1]. In this paper, we propose a linguistic map-based framework for the navigational planning of mobile robots, which is applicable to the dynamic environment including not only static obstacles but also dynamic obstacles such as temporal-spatio obstacles, by extending Lee et al. 's framework, and provide computer simulation results obtained by applying to a mobile robot on the dynamic environment in order to show the validity of the proposed algorithm.

• Korean Journal of Computational Design and Engineering
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• v.9 no.2
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• pp.148-157
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• 2004

Interactive simulators that simulate mechanical systems are being developed for the purpose of performance evaluation of product design, replacement of physical training, and entertainment game. Use of flight simulator is increasing to reduce risk and cost of physical training, and we need virtual environment which covers large area terrain. We need a method that can reduce development cost and construction time of virtual environment that simulate the real environment. There have been attempts to link GIS or remote sensing field with virtual reality. This paper examines a method that helps to construct virtual environment, and attempts to link geographic information with virtual reality. A construction method of virtual environment based on digital map and satellite image has been studied.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.18 no.1
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• pp.127-133
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• 2015

Interests in ecosystem services have increased and a number of attempts to perform a quantitative valuation on them have been undertaken. To classify the ecosystem types landcover classification maps are generally used. However, some forest types on landcover classification maps have a number of errors. The purpose of this study is to verify the forest types on the landcover map by using a variety of field survey data and to suggest an improved method for forest type classifications. Forest types are compared by overlaying the landcover classification map with the 4th forest type map, and then they are verified by using National Forest Inventory, 3rd National Ecosystem Survey and field survey data. Misclassifications of forest types are found on the forest on the forest type map and farm and other grassland on the landcover map. Some errors of forest types occur at Daegu, Busan and Ulsan metropolitan cities and Gangwon province. The results of accuracy in comprehensive classification show that deciduous forest is 76.1%; coniferous forest is 54.0%; and mixed forest is 22.2%. In order to increase the classification accuracy of forest types a number of remote sensing images during various time periods should be used and the survey period of NFI and the National Forest Inventory and National Ecosystem Survey should be consistent. Also, examining areas with wide forest patch should be prioritized during the field survey in order to decrease any errors.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.15 no.2
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• pp.31-40
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• 2012

The Environmental Conservation Value Assessment Map (ECVAM) is a five grade assessment map created with nationally integrated environmental information and environmental values. The map is made through the evaluation of 65 items, including greenbelt area and naturalness. Naturalness means original state of nature, and it is one of the most important evaluation items for conserving nature. The criteria of naturalness includes the Degree of Green Naturality (DGN) made by MOE. Using the data which has been not updated is a problem of accuracy for ECVAM. Therefore, this study would like to improve the criteria of naturalness. To improve the criteria, the study examined the effectiveness of DGN using field survey. The results of analysis the naturalness without DGN, some area changed grade of naturalness have been already damaged or cleared for agriculture and industrial purposes. The grade of naturalness should be included the concept of vegetation transition like DGN. The study suggested a improved method using vegetation type (natural and planted forest), forest age, and the grade of vegetation conservation. The method was reviewed by experts and field survey. After applying the method in South Korea, the grade of naturalness were distributed evenly like GradeI is 38.87%, GradeII is 37.62%, GradeIII is 23.51%, respectively. From the results of field survey, over 4 grade of forest age in natural forest showed similar pattern of structure and composition in original forests. Therefore, the improved criteria explained the naturalness better than existing criteria, and the accuracy of ECVAM has been improved more.

• Journal of Korean Society on Water Environment
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• v.31 no.2
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• pp.120-133
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• 2015

Due to increasing impervious surfaces resulting from urbanization and industrialization which are directly linked to urban inundation and non-point pollutants runoff, there is a need to manage them systematically. A management over urban impervious surfaces calls for pervious/impervious maps, which enable viewing the distribution of impervious surfaces. Nevertheless, relevant data are absent as now. In this respect, despite the diversity of proposed methods, pilot implementation and accuracy verification have never been conducted. Therefore, this study is aimed to produce a pilot pervious/impervious map based on previously proposed methods and to elucidate its pros and cons with a view to proposing a method for producing a GIS-based optimal pervious/impervious map. Following previously proposed methods, a pervious/impervious map of Bupyeong-gu, Incheon was produced. Then, a method of producing optimal pervious/impervious maps applicable to urban areas was proposed through the comparison of pros and cons of relevant spatial data. As a result, the map had been confirmed 99.2% of classification accuracy. Based on the present findings, future studies should establish a standardized method for producing. Also, this method should be used to produce pervious/impervious maps of other regions so that it can be applied to managing impervious surfaces in major urban areas nationwide.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.9
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• pp.916-921
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• 2011

Mobile robot localization is the task of estimating the robot pose in a given environment. This research deals with outdoor localization based on an elevation map. Since outdoor environments are large and contain many complex objects, it is difficult to robustly estimate the robot pose. This paper proposes a Hausdorff distance-based map matching method. The Hausdorff distance is exploited to measure the similarity between extracted features obtained from the robot and elevation map. The experiments and simulations show that the proposed Hausdorff distance-based map matching is useful for robust outdoor localization using an elevation map. Also, it can be easily applied to other probabilistic approaches such as a Markov localization method.

• Aerospace Engineering and Technology
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• v.11 no.2
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• pp.140-148
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• 2012

For autonomous navigation, map, pose tracking, and finding the shortest path are required. Because there is no GPS signal in indoor environment, the current position should be recognized in the 3D map by using image processing or something. In this paper, we explain 3D map creation technology by using depth camera like Kinect and pose tracking in 3D map by using 2D image taking from camera. In addition, the mechanism of avoiding obstacles is discussed.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.9
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• pp.1612-1616
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• 2006

For map services in the mobile environment, it should be considered that resource restriction or the mobile device. on, if a map database dedicated to mobile services may not be developed, the spatial data extracted from general map databases should be simplified before transmitting. % is paper suggests the filtering methods to manipulate the spatial data, which are changed to be able to displayed on the mobile devices. The suggested methods are evaluated by experiments. This method is based on the map generalization operator 'selection' and is refined to adapt on mobile phone environments.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.129.3-129
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• 2001

In this paper, a novel navigation method is presented for the cleaning robot in the unknown workspace. In order to do this, we propose a new map representation method and a complete coverage navigation method. First, we discuss a triangular cell map representation which makes the cleaning robot navigate with shorter path and increased flexibility than a rectangular cell map representation. Then we proposed a complete coverage navigation and map construction method which the cleaning robot can navigate the complete workspace although it has perfectly no information about environment. Finally, we evaluate the performance of our proposed triangular cell map comparing to that of the rectangular cell map via the existing ...

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.330-334
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• 2001

This paper presents the way of building an occupancy grid map which a mobile robot needs to autonomously navigate in the unknown environment. A disparity map resulting from stereo matching can be converted into the 2D distance information. If the stereo matching has some errors, however, the subsequent map becomes unreliable. In this paper, a new morphological filter is proposed to reject 'spikes' of the disparity map due to stereo mismatch by considering the fact that these spikes occur locally. The new method has advantages that it is simpler and more easily realized than existing similar algorithms.