• The Journal of Korea Robotics Society
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• v.2 no.3
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• pp.275-281
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• 2007

This paper presents a motion planning strategy for legged robots using locomotion primitives in the complex 3D environments. First, we define configuration, motion primitives and locomotion primitives for legged robots. A hierarchical motion planning method based on a combination of 2.5 dimensional maps of the 3D workspace is proposed. A global navigation map is obtained using 2.5 dimensional maps such as an obstacle height map, a passage map, and a gradient map of obstacles to distinguish obstacles. A high-level path planner finds a global path from a 2D navigation map. A mid-level planner creates sub-goals that help the legged robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. A local obstacle map that describes the edge or border of the obstacles is used to find the sub-goals along the global path. A low-level planner searches for a feasible sequence of locomotion primitives between sub-goals. We use heuristic algorithm in local motion planner. The proposed planning method is verified by both locomotion and soccer experiments on a small biped robot in a cluttered environment. Experiment results show an improvement in motion stability.

• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.25-31
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• 2022

Moving among multiple floors is one of the most challenging tasks for indoor autonomous robots. Most of the previous researches for indoor mapping and localization have focused on singular floor environment. In this paper, we present an algorithm that creates a multi-floor map using 3D point cloud. We implement localization within the multi-floor map using a LiDAR and an IMU. Our algorithm builds a multi-floor map by constructing a single-floor map using a LOAM-based algorithm, and stacking them through global registration that aligns the common sections in the map of each floor. The localization in the multi-floor map was performed by adding the height information to the NDT (Normal Distribution Transform)-based registration method. The mean error of the multi-floor map showed 0.29 m and 0.43 m errors in the x, and y-axis, respectively. In addition, the mean error of yaw was 1.00°, and the error rate of height was 0.063. The real-world test for localization was performed on the third floor. It showed the mean square error of 0.116 m, and the average differential time of 0.01 sec. This study will be able to help indoor autonomous robots to operate on multiple floors.

• Journal of Korean Society of Environmental Engineers
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• v.38 no.9
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• pp.528-533
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• 2016

One of ways for effectively maintaining asbestos buildings is to select asbestos buildings to be removed firstly by manufacturing and analyzing asbestos map of various topics. Thus, in this study we manufactured asbestos map of various topics for the effective management of asbestos buildings owned by Seoul using QGIS (Quantum Geographic Information System). To select asbestos buildings likely to cause asbestos scattering problem and exposure into the air, we comprehensively took into consideration various topics such as asbestos buildings density, asbestos-area ratio, asbestos buildings distribution considering the population, first removal object, risk assessment, elapsed year. As described in this study, using the GIS may be utilized as a method for selecting asbestos buildings to be removed firstly as well as distribution of asbestos buildings. In the future, it is necessary to make assessment criteria considering diversification of property value in GIS such as the characteristics of the living environment around the asbestos buildings. This is expected to be utilized to manage the vulnerable region to asbestos exposure.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.8
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• pp.1605-1614
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• 2009

The technique of simultaneous localization and mapping is the most important research topic in mobile robotics. In the process of building a map in its available memory, the robot memorizes environmental information on the plane of grid or topology. Several approaches about this technique have been presented so far, but most of them use mapping technique as either grid-based map or topology-based map. In this paper we propose a frame of solving the SLAM problem of linking map covering, map building, localizing, path finding and obstacle avoiding in an automatic way. Some algorithms integrating grid and topology map are considered and this make the SLAM performance faster and more stable. The proposed scheme uses an occupancy grid map in representing the environment and then formulate topological information in path finding by A${\ast}$ algorithm. The mapping process is shown and the shortest path is decided on grid based map. Then topological information such as direction, distance is calculated on simulator program then transmitted to robot hardware devices. The localization process and the dynamic obstacle avoidance can be accomplished by topological information on grid map. While mapping and moving, pose of the robot is adjusted for correct localization by implementing additional pixel based image layer and tracking some features. A laser range finer and electronic compass systems are implemented on the mobile robot and DC geared motor wheels are individually controlled by the adaptive PD control method. Simulations and experimental results show its performance and efficiency of the proposed scheme are increased.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.10a
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• pp.93-96
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• 2015

The aim of the estimation of disparity map is to find the corresponding pixels from similar two or more images. However, it is a difficult problem to get precise and consistent disparity under a variety of real world situations. In other words, the color values of stereo images are easily influenced by radiometric properties such as illumination direction, illumination color, and camera exposure. Therefore, conventional stereo matching methods can have low performances under radiometric conditions. In this paper, we propose an approaching of disparity map estimation that is reliable in controlling various radiometric variations close to the real environment. This method is motivated by following constancy. Even though each other has different radiometric property in stereo images, intensity of pixels of object have general constancy in specific block. Experimental results show that the proposed method has better performances compared to the comparison group under different radiometric conditions between stereo images. Consequentially, the proposed method is able to estimate the disparity map in stable under various radiometric variations.

• Hwankyungkyoyuk
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• v.23 no.2
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• pp.97-112
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• 2010

The study aims to comprehend the effect of the wetland ecology education on the elementary school students' changes of recognition about wetland through the wetland ecology map program. In this study, the literary research, the experimental research and the survey methods were operated. Through the literary research, the environmental factors were extracted, and the writing item of ecology map was reconstructed based on the literary research, so the experimental research was operated with the wetland ecology map program. Through four areas of test items such as the information and knowledge, values and attitudes, development and conservation, behavior and participation, and the analysis of children's study results, the effect of the wetland ecology map program on changes of recognition about wetland was verified quantitatively and qualitatively. Wetland ecology map program would be able to be an educational approach which can achieve the 'personalization of environment' setting up predictable environmental improvement goals and satisfying the needs of spatial information of the appropriate regions from the holistic perspective that students themselves plan and participate beyond a one-time experience program. Production of ecological map through continuous monitoring is expected to improve the possibility of subjective environmental actions by operating self-directed learning. Based on the conclusion of this study, we would suggest the following. For wetland ecology map program to be supplemented and utilized, the basic education of wetland should be organized in regular school curriculum, ecology map program including various teaching learning methods be prepared actively, and in future studies, studies of ecosystem-wide wetland ecology map program including animals like birds and fish are necessary.

• Korean Journal of Remote Sensing
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• v.21 no.4
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• pp.329-339
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• 2005

In the mobile phone map service there are some restrictions of resolutions and process in terminals. So providing a sketch map is very efficient. This simplifies the map data and increases the understanding of the user. This sketched map marks the starting point and ending point. Then simplifies the surroundings like important roads or building so the user can find his/her way easily. First of all this sketch map service needs a method to simplify the route between starting point and ending point and the surroundings. After that it needs to make the simplified data into a sketch map and suitable to the terminal's resolution. To solve these problems this paper proposes a new method to manifest a sketch map efficiently through a mobile phone. The method, introduced in this paper, is surveyed to have a higher efficiency in data usage compared to the current services available in the market. And also it is examined to have a clear vision in process and easily understandable.

• Journal of the Korea Computer Graphics Society
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• v.27 no.3
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• pp.31-42
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• 2021

We propose a deep learning-based method that can estimate an appropriate lighting of both indoor and outdoor images. The method consists of two networks: Crop-to-PanoLDR network and LDR-to-HDR network. The Crop-to-PanoLDR network predicts a low dynamic range (LDR) environment map from a single partially observed normal field of view image, and the LDR-to-HDR network transforms the predicted LDR image into a high dynamic range (HDR) environment map which includes the high intensity light information. The HDR environment map generated through this process is applied when rendering virtual objects in the given image. The direction of the estimated light along with ambient light illuminating the virtual object is examined to verify the effectiveness of the proposed method. For this, the results from our method are compared with those from the methods that consider either indoor images or outdoor images only. In addition, the effect of the loss function, which plays the role of classifying images into indoor or outdoor was tested and verified. Finally, a user test was conducted to compare the quality of the environment map created in this study with those created by existing research.

• Journal of KIISE:Computing Practices and Letters
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• v.12 no.1
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• pp.9-20
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• 2006

Web Map Service on mobile environment, provided with cost effective mobile GIS contents and user preferred POIs(Points of interests), is strongly required at this moment when mobile and portable Internet is rapidly spreaded on mobile user community as information technology and mobile HW are evolved in its speed, bandwidth and features. As the mobile and portable Internet becomes popular in mobile services, LBS(Location Based Service) is positioned on a mobile client as one of the best information infra services. Recently mobile GIS (Geographic Information System) comes in service to support LBS, but it is constrained and limited on its system configuration and its presentation methodology of a map, and also it depends on its run time environment. In this paper, we made an effort to design and implement a GIS computing platform with server based thin client for mobile WMS(Web Map Service). For its cost effective Platform which could be easily building up POIs and GIS contents, we're not using commercial GIS solution but NGII's (National Geographic Information Institute's) DXF numerical map, and representing the maps, GIS contents and POIs by SVG(Scalable Vector Graphics) recommended by OGC(OpenGis Consortium). We're also adapting de facto standard of XML web service technology such as WSDL, SOAP to provide real time mobile GIS service on PDA as well as mobile terminal by applying a GPS receiver for a user's location information on mobile environment.

• 전자공학회논문지 IE
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• v.43 no.4
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• pp.128-135
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• 2006

This paper proposes the control method of fuzzy based sensor fusion by using the self localization of environment, position data by dead reckoning of the encoder and world map from sonic sensors. The proposed fuzzy based sensor fusion system recognizes the object and extracts features such as edge, distance and patterns for generating the world map and self localization. Therefore, this paper has developed fuzzy based control of mobile robot with experimentations in a corridor environment.