• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.15 no.6
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• pp.135-140
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• 2015

The Cyber-Physical Systems (CPS) complexly perform modeling and simulation (M&S) for the various embedded systems. In this case, due to use diverse formatted models, we suggest to apply with the SEDRIS to systematically manage the different formatted data on M&S. The SEDRIS can reduce time and cost with reusing and interoperating environment data developed in the specific domain. To do this, we should input the data transformed the height map for terrain representation in a simulator into raster data of SEDRIS for which interoperate between the existed simulator and the SEDRIS. To solve the problem, we propose the transformation method to transfer the polygon data from RAW file used in terrain representation. With the proposed method, we can provide two advantages. First, it can possibly express the environment data into SEDRIS. Second, we can see the terrain like an image file through a viewer. Therefore, even non-expert easily constructs the terrain environment data.

• Journal of KIISE:Computing Practices and Letters
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• v.8 no.5
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• pp.510-519
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• 2002

The OpenGIS Consortium has proposed a new web-mapping technology to support interoperability in web GIS environment by developing the specifications of MapServer and GML. In this environment, the MapServer transforms legacy spatial data into GML data, and clients display them on standard web browsers. This web-mapping testbed proposes methods for discovering, accessing, integrating and displaying GIS information except processing of spatial operations which are essential services in GIS environment. This paper proposes the method for executing spatial operations on GML data which are overlays of different map layers in legacy data servers. To support spatial operations on GML data in web GIS environment, this paper designs and implements GDOM based on the W3C's DOM Specifications and OGC's Simple Features Specifications. This paper shows the specifications and implementation of GDOM and the process of spatial operations in web-mapping testbed environment.

• The Journal of Korea Robotics Society
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• v.7 no.2
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• pp.150-159
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• 2012

In this paper, we propose a cost-aware Rapidly-exploring Random Tree (RRT) path planning algorithm for mobile robots. A mobile robot is presented with a cost map of the field of interest and assigned to move from one location to another. As a robot moves, the robot is penalized by the cost at its current location according to the cost map. The overall cost of the robot is determined by the trajectory of the robot. The goal of the proposed cost-aware RRT algorithm is to find a trajectory with the minimal cost. The cost map of the field can represent environmental parameters, such as temperature, humidity, chemical concentration, wireless signal strength, and stealthiness. For example, if the cost map represents packet drop rates at different locations, the minimum cost path between two locations is the path with the best possible communication, which is desirable when a robot operates under the environment with weak wireless signals. The proposed cost-aware RRT algorithm extends the basic RRT algorithm by considering the cost map when extending a motion segment. We show that the proposed algorithm gives an outstanding performance compared to the basic RRT method. We also demonstrate that the use of rejection sampling can give better results through extensive simulation.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.735-739
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• 2005

This paper presents a new system to estimate the head pose of human in interactive indoor environment that has dynamic illumination change and large working space. The main idea of this system is to suggest a new morphological feature for estimating head angle from stereo disparity map. When a disparity map is obtained from stereo camera, the matching confidence value can be derived by measurements of correlation of the stereo images. Applying a threshold to the confidence value, we also obtain the specific morphology of the disparity map. Therefore, we can obtain the morphological shape of disparity map. Through the analysis of this morphological property, the head pose can be estimated. It is simple and fast algorithm in comparison with other algorithm which apply facial template, 2D, 3D models and optical flow method. Our system can automatically segment and estimate head pose in a wide range of head motion without manual initialization like other optical flow system. As the result of experiments, we obtained the reliable head orientation data under the real-time performance.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.42 no.2
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• pp.536-544
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• 2017

Wireless RSSI (Received Signal Strength Indication) fingerprinting is one of the most popular methods for indoor positioning as it provides reasonable accuracy while being able to exploit existing wireless infrastructure. However, the process of radio map construction (aka fingerprint calibration) is laborious and time consuming as precise physical coordinates and wireless signals have to be measured at multiple locations of target environment. This paper proposes a method to build the map from a combination of RSSIs without location information collected in a crowdsourcing fashion, and a handful of labeled RSSIs using a semi-supervised self organizing map learning algorithm. Experiment on simulated data shows promising results as the method is able to recover the full map effectively with only 1% RSSI samples from the fingerprint database.

• Journal of Korea Multimedia Society
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• v.8 no.8
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• pp.1023-1031
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• 2005

LBS(Location Based Service) and GIS (Geographic Information System) are supporting necessary services for system which provides geographic information using location information based on various platforms. However the mobile computing environments such as PDA system have serious limitations in functional viewpoints compare of general computing environments, it has problems for developing GIS system which is providing various information. In this paper, we suggest the reduced methods of digital map and format of web-linked digital mao in order to fit in mobile environment. As a result of map generation, the total capacity of the supported digital map was diminished about $99.34\%$ than the original map.

• Journal of Environmental Impact Assessment
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• v.20 no.2
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• pp.123-131
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• 2011

The objective of this study is to prepare the effective management plan of environmental noise with a noise map, and the guideline on the management plan of environmental noise was suggested through the review of existing application examples. The management plan of environmental noise with a noise map includes the practical contents in the stages of subdivision of management areas, establishment of reduction measures, opinion collection, post investigation, and reformulation of management plan. First, the classification of management regions is performed considering the excess degree of noise standard and the facility type in the phase of subdivision of management areas. Second, the optimal management plan is established through the investigation of regional characteristics and various noise reduction measures in the phase of establishment of reduction measures, which includes the examination of noise reduction effects with a noise map and the budget planning with the costing of noise reduction measures. Third, the opinion survey with a local resident and a expert is carried out in order to prove the validity of the management plan in the phase of opinion collection, and the management plan is modified with gathered opinions. Fourth, the post examination plan with noise measurement is performed in order to verify the real effect of noise reduction measures according to the management plan in the phase of post investigation. Finally, the amendment of the management plan as well as the improvement of a noise map is carried out at a regular cycle in the phase of reformulation of management plan.

• Journal of Auto-vehicle Safety Association
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• v.9 no.2
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• pp.6-12
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• 2017

An autonomous driving system based on a precise digital map is developed. The system is implemented to the Hyundai's Tucsan fuel cell car, which has a camera, smart cruise control (SCC) and Blind spot detection (BSD) radars, 4-Layer LiDARs, and a standard GPS module. The precise digital map has various information such as lanes, speed bumps, crosswalks and land marks, etc. They can be distinguished as lane-level. The system fuses sensed data around the vehicle for localization and estimates the vehicle's location in the precise map. Objects around the vehicle are detected by the sensor fusion system. Collision threat assessment is performed by detecting dangerous vehicles on the precise map. When an obstacle is on the driving path, the system estimates time to collision and slow down the speed. The vehicle has driven autonomously in the Hyundai-Kia Namyang Research Center.

• Journal of Korean Society for Geospatial Information Science
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• v.9 no.2 s.18
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• pp.55-62
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• 2001

The development of electronic technology brings the advent of GPS and electronic total station which measures, stores and records automatically angles, distances and 3d coordinates Electronic totalstation is the surveying equipment and system2000 is the supporting program that enables totals tation to get 3d terrain information, construction of the database and automatic drafting of the cartographic map. In this study, we aims at studying the system which can produce automatically the digital cartographic map by using total station and system2000. For this study, cartographic maps of a region are produced by total station and system2000, and then builded digital cartographic map on the autocad2000 environment and also we analysed two digital cartographic maps. As a results of this study, it is found that digital cartographic map by total station and system2000 are much more accurate and efficient than cartographic map by electronic plan table surveying.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.9
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• pp.539-546
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• 2005

This paper describes a method of building the probability grid map for an autonomous mobile robot using the ultrasonic DAF(data association filter). The DAF, which evaluates the association of each data with the rest and removes the data affected by the specular reflection effect, can improve the reliability of the data for the Probability grid map. This method is based on the evaluation of possibility that the acquired data are all from the same object. Namely, the data from specular reflection have very few possibilities of detecting the same object, so that they are excluded from the data cluster during the process of the DAF. Therefore, the uncertain data corrupted by the specular reflection and/or multi-path effect, are not used to update the probability map, and hence building a good quality of a grid map is possible even in a specular environment. In order to verify the effectiveness of the DAF, it was applied to the Bayesian model and the orientation probability model which are the typical ones of a grid map. We demonstrate the experimental results using a real mobile robot in the real world.