• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2008.04a
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• pp.233-236
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• 2008

Recently, the development and application of unmaned robots are increasing in various fields including surveillance and reconnaissance, planet exploration and disaster relief. Unmaned robots are usually controlled from distance using radio communications but they should be equipped with autonomous travelling function to cope with unexpected terrains and obstacles. This means that unmanned robots should be able to evaluate terrain's characteristics quantitatively using mounted sensors so as to traverse harsh natural terrains autonomously. For this purpose, this paper presents an algorithm for extracting terrain information from elevation maps as an early step of traversability analysis. Slope and roughness information are extracted from a world terrain map based on least squares method and fractal theory, respectively. The effectiveness of the proposed algorithm is verified on both fractal and real terrain maps.

• The Transactions of the Korea Information Processing Society
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• v.3 no.1
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• pp.160-166
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• 1996

In 2D and 3D computer graphics, fractal techniques have been applied ter rain models. In general, a specific 3D terrain model such as Cheju or Uleung Island could not beformulated by statistical fractalsowing to the randomeffects. However, by locating the control points on the edges and the surface of a specific terrain such as Cheju Island, a similar shape of the terrain model can be simulated. This paper presents the way of formulating a specific 3D terrain model by the statistical fractals with fixed midpoints.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.909-915
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• 2008

Recently, the interests in the development and application of unmaned robots are increasing in various fields including surveillance and reconnaissance, planet exploration, and disaster relief. Unmaned robots are usually controlled from distance using radio communications but they should be equipped with an autonomous travelling function to cope with unexpected terrains and obstacles. This means that they should be able to evaluate terrain's characteristics quantitatively using mounted sensors so as to traverse harsh natural terrains autonomously. For this purpose, this paper presents a method for extracting terrain information, that is, slope and roughness from elevation maps as a prior step of traversability analysis. Slope is extracted using the curve fitting based on the least squares method and roughness using three metrics and their weighted average. The effectiveness of the proposed method is verified on both a fractal map and the world model map of a real terrain.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.5D
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• pp.895-907
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• 2006

In this study, in order to maximize the accuracy and efficiency of the existing interpolation method fractal methods are applied. Developed FEDISA model revives the irregularity of the real terrain with only a few information about base terrain, which can produce almost complete geographic information. The area of the model is set to $150m{\times}150m$, $300m{\times}300m$, $600m{\times}600m$, $1,200m{\times}1,200m$ to compare the real data with the data of the existing interpolation method and FEDISA model. By statistical verification of the results, the adaptability and efficiency of FEDISA model are investigated. It seems that FEDISA model will help a lot to obtain the terrain information about the changed terrain, such as the bottom of reservoirs and dams as well as large amount of destruction due to cutting and banking.

• The Transactions of the Korea Information Processing Society
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• v.4 no.9
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• pp.2403-2411
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• 1997

Direct3D is a recently developed 3D graphic accelerator such that we could make a Windows graphic programs with Direct3D easily. This paper presents the fractal terrain model viewer developed in terms of Direct3D. The object classes and the input dialog box used the model viewer, program initializing process, and the flow of the model viewer are discussed. Finally, the output of terrain formulation in wire-frame, solid, and point type form are presented. To show the results, the data of a terrain model were made by a fractal technique, the midpoint displacement methods with square lattices of points.

• Journal of the Korea Computer Graphics Society
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• v.1 no.2
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• pp.248-253
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• 1995

Mandelbrot에 의하여 제안된 Random Fractal은 현실감 있는 지형의 모델링을 가능하게 하였으며. Fournier등은 수학적으로 매우 복잡한 Fractal이론을 단순화한 중간점 분할 알고리즘(Midpoint Subdivision Algorithm)을 고안하여 다양한 형태의 지형 모델링에 매우 성공적인 결과를 얻게 되었다. 그러나, Random Fractal을 응용한 여러 종류의 알고리즘들은 이것의 특성으로 인하여, 생성되는 지형의 형태를 예측하기 어려운 단점이 있다. 따라서, 본 논문에서는 중간점 분할 알고리즘을 이용하여 사용자가 원하는 형태의 지형을 모델링할 수 있는 방법에 대하여 논하였다. 전체적인 지형의 모델링 과정을 크게 전역 제어와 지역 제어의 두 단계로 구분하여, 전역 제어 단계에서 전체 지형의 개략적인 형태를 제어하여 모델링한 후 지역 제어 단계에서의 세부적인 형태제어를 통하여 최종적으로 사용자가 원하는 형태의 지형을 모델링할 수 있는 방법을 제안하였다. 또한, GUI(Graphical User Interface)를 이용하여 전역 제어와 지역 제어에서 생성되는 전체 지형의 형태를 wire frame을 이용하여 실시간에 회전시키며 점검할 수 있도록 하여 세부적인 수정을 용이하게 하였다.

• Journal of Korea Multimedia Society
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• v.13 no.2
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• pp.298-307
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• 2010

The grass is one of important components that cover the wide surfaces in the application such as game or real time simulation. Actually, it not easy to render effectively numerous grasses that grow over the wide terrain. To solve the difficulty, we must find a solution to the two contradictions in terms : quality and calculation cost. As a solution to the above-mentioned task, in this paper, we propose an efficient method to represent the natural grasses by introducing fractal theory and instancing technique. Although the existing grass representation methods make use of a simple rule of applying a basic grass model repeatedly in rendering process, on the contrary we take advantage of the basic property of fractal's self-similarity and we devise a natural representation method suited to the given environment by introducing two important growth factors such as nature of terrain and quantity of light, and finally we apply a GPU-based shader instancing technique to rendering numerous grass models in real-time.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.2
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• pp.93-99
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• 2013

Fractal theory has been adopted as an effective tool for modelling complex and irregular natural phenomena facing in the fields of Computer Science, Engineering, Medical, Climatology and so on. In this paper, we presents an algorithm which enhances the performance of the triangular prism method(TPM) which has been widely used for fractal dimension extraction of natural terrains and images. For this, existing sampling methods are analyzed and a new sampling method which takes their merits is proposed. The effectiveness of the proposed algorithm is tested on fractal terrain maps and its performance is compared with that of other methods.

• Journal of Korea Water Resources Association
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• v.44 no.10
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• pp.831-841
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• 2011

In this study, with the assumption that the geographical characteristics of the river basin have selfsimilarity, fractal dimensions are used to quantify the complexity of the terrain. For this, Area exponent and hurst exponent was applied to estimate the fractal dimension by using spatial analysis. The result shows that the value of area exponent and hurst exponent calculated by the fractal dimension are 2.008~2.074 and 2.132~2.268 respectively. Also the $R^2$ of area exponent and hurst exponent are 94.9% and 87.1% respectively too. It shows that the $R^2$ is relatively high. After analyzing the spatial self-similarity parameter, it is shown that traditional urban area's moderate slope geographical characteristic closed to 2D fractal in Ara water way. In addition, the relation between fractal dimension and geographical elements are identified. With these results, fractal dimension is the representative value of basin characteristics.

• Journal of Korean Society for Geospatial Information Science
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• v.24 no.4
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• pp.83-88
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• 2016

The use of consistent coastlines is an important element for the systematic management of maritime boundaries and the interests of local governments. The Hydrographic and Oceanographic Agency conducted a preliminary survey for consistent coastline production, since 2001. As a result, the length of coastline was different by year. Because of the lack of systematic management, the use of incorrect data, etc. We also changed the coastline on the sea chart to show on a digital map for realization of terrain expression method. However, there was a variation in shoreline length due to various surveying techniques and shoreline extraction methods. In this paper, the characteristics of Jeju-do coastline were analysed by using a modified divider method of fractal dimension. The accuracy of the vectorization was determined by converting the actual distance in the Public Survey Amendment for proper divider use. With 1:5,000 and 1:25,000 digital maps of Jeju-si and Seogwipo-si each fractal dimensions were calculated. Jeju-si=1.14 and Seogwipo-si=1.12 in 1: 5,000. Jeju-si=1.13 and Seogwipo-si=1.10 in 1: 25,000. Calculated fractal dimension were correlated to data from digital maps. It was considered that complexity and scale of coastlines affected. In the future coastline length statistics and minimum ratio of calculated coastline length to original length need to be determined for consistency of coastline length statistics.