• Journal of Korea Game Society
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• v.13 no.1
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• pp.31-40
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• 2013

A* algorithm is a well known pathfinding algorithm. However, there may be a limit to use A* algorithm in real-time in a map where many interactions occur between objects or many obstacles exist. Therefore, it may be necessary to find a naturally looking path quickly instead of finding a shortest path in games. In this paper, we propose a new heuristic function to exploit path information in a map. We also show that the pathfinding algorithm based on the proposed heuristic function can find a good path much faster than A* algorithm on several grid maps.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.6
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• pp.803-812
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• 2017

This paper proposes a local path planning method for stable autonomous driving in rough terrain. There are various path planning techniques such as candidate paths, star algorithm, and Rapidly-exploring Random Tree algorithms. However, such existing path planning has limitations to reflecting the stability of unmanned ground vehicles. This paper suggest a path planning algorithm that considering the stability of unmanned ground vehicles. The algorithm is based on the genetic algorithm and assumes to have probability based obstacle map and elevation map. The simulation result show that the proposed algorithm can be used for real-time local path planning in rough terrain.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.9
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• pp.196-204
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• 2012

Recently, many applications perform OLAP(On-Line Analytical Processing) over a very large volume of data. Multidimensional data cube is regarded as a core tool in OLAP analysis. This paper focuses on the method how to efficiently compute data cubes in parallel by using a popular parallel processing tool, MapReduce. We investigate efficient ways to implement PipeSort algorithm, a well-known data cube computation method, on the MapReduce framework. The PipeSort executes several (descendant) cuboids at the same time as a pipeline by scanning one (ancestor) cuboid once, which have the same sorting order. This paper proposed four ways implementing the pipeline of the PipeSort on the MapReduce framework which runs across 20 servers. Our experiments show that PipeMap-NoReduce algorithm outperforms the rest algorithms for high-dimensional data. On the contrary, Post-Pipe stands out above the others for low-dimensional data.

• The Journal of the Korea Contents Association
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• v.13 no.10
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• pp.62-70
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• 2013

DIBR(Depth Image Based Rendering) is a kind of view synthesis algorithm to generate images at free view points from the reference color image and its depth map. One of the main challenges of DIBR is the occurrence of holes that correspond to uncovered backgrounds at the synthesized view. In order to cover holes efficiently, two main approaches have been actively investigated. One is to develop preprocessing algorithms for depth maps or parallax maps to reduce the size of possible holes, and the other is to develop hole filling methods to fill the generated holes using adjacent pixels in non-hole areas. Most conventional preprocessing algorithms for reducing the size of holes are based on the smoothing process of depth map. Filtering of depth map, however, attenuates the resolution of depth map and generates geometric distortions. In this paper, we proposes a novel preprocessing algorithm for parallax map to improve the performance of hole-filling by avoiding the drawbacks of conventional methods.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.49 no.2
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• pp.69-75
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• 2012

This paper presents a novel de-interlacing algorithm that can make up motion compensation errors by using maximum a posteriori (MAP) estimator. First, a proper registration is performed between a current field and its adjacent fields, and the progressive frame corresponding to the current field is found via MAP estimator based on the computed registration information. Here, in order to obtain a stable solution, well-known bilateral total variation (BTV)-based regularization is employed. Next, so-called feathering artifacts are detected on a block basis effectively. So, edge-directional interpolation is applied to the pixels where feathering artifact may happen, instead of the above-mentioned temporal de-interlacing. Experimental results show that the PSNR of the proposed algorithm is on average 4dB higher than that of previous studies and provides the better subjective quality than the previous works.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.5
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• pp.1155-1163
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• 2011

In this paper, we propose a new pre-processing algorithm applied to depth map to improve the coding efficiency. Now, 3DV/FTV group in the MPEG is working for standard of 3DVC(3D video coding), but compression method for depth map images are not confirmed yet. In the proposed algorithm, after dividing the histogram distribution of a given depth map by EM clustering method based on GMM, we classify the depth map into several layered images. Then, we apply different mean shift filter to each classified image according to the existence of background or foreground in it. In other words, we try to maximize the coding efficiency while keeping the boundary of each object and taking average operation toward inner field of the boundary. The experiments are performed with many test images and the results show that the proposed algorithm achieves bits reduction of 19% ~ 20% and computation time is also reduced.

• The KIPS Transactions:PartA
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• v.18A no.2
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• pp.75-80
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• 2011

Recently, many cleaning robots have been made with various algorithms for efficient cleaning. One of them is a DmaxCoverage algorithm which efficiently clean for the situation when the robot has a time limit. This algorithm uses Rectangle Tiling method for finding the biggest rectangle that doesn't have any obstacle. When the robot uses grid map, Rectangle Tiling method can find the optimal value. Rectangle Tiling method is to find all of the rectangles in the grid map. But when the grid map is big, it has a problem that spends a lot of times because of the large numbers of rectangles. In this paper, we propose Four Direction Rectangle Scanning(FDRS) method that has similar accuracy but faster than Rectangle Tiling method. FDRS method is not to find all of the rectangle, but to search the obstacle's all directions. We will show the FDRS method's performance by comparing of FDRS and Rectangle Tiling methods.

• Journal of the Korean Society of Safety
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• v.34 no.2
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• pp.48-55
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• 2019

For preventing the accidents generated from the chemical materials, thus far, MSDS (Material Safety Data Sheet) data have been made to notify how to use and manage the hazardous and chemical materials in safety. However, it is difficult for users who handle these materials to understand the MSDS data because they are only listed based on the alphabetical order, not based on the specific factors such as similarity of characteristics. It is limited in representing the types of chemical materials with respect to their characteristics. Thus, in this study, a lots of MSDS data are visualized based on relationships of the characteristics among the chemical materials for supporting safety managers. For this, we used the textmining algorithm which extracts text keywords contained in documents and the Self-Organizing Map (SOM) algorithm which visually addresses textual data information. In the case of Occupational Safety and Health Administration (OSHA) in the United States, the guide texts contained in MSDS documents, which include use information such as reactivity and potential risks of materials, are gathered as the target data. First, using the textmining algorithm, the information of chemicals is extracted from these guide texts. Next, the MSDS map is developed using SOM in terms of similarity of text information of chemical materials. The MSDS map is helpful for effectively classifying chemical materials by mapping prohibited and hazardous substances on the developed the SOM map. As a result, using the MSDS map, it is easy for safety managers to detect prohibited and hazardous substances with respect to the Industrial Safety and Health Act standards.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.27 no.1
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• pp.117-123
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• 2023

There are casualties due to inundation and flooding due to intensive typhoons or heavy rains in summer. Due to such damage, the biggest disaster is flood, and in order to reduce human damage, this paper proposes a shortest distance algorithm-based pedestrian path search study using Map API. This system selects Map API through comparative analysis and provides the shortest route. The route explored is in JSON format and the data of the shelter is stored in the database. The route search system designed and implemented based on this data locates pedestrians and provides evacuation routes in case of flash floods. In addition, if the route cannot be entered while moving to the evacuation route, the current location of the pedestrian is identified, the route is re-searched, and a new route is provided. Therefore, it is believed that the pedestrian route search system proposed in this paper will prevent negligent accidents.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.38.3-38
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• 2002

$\textbullet$ The topological map using a thinning needs much simpler computation than that using a Voronoi. $\textbullet$ A thinning can provide much information on the environment (additional nodes). $\textbullet$ Each node created in a local map is considered as temporary and redundant nodes are discarded. $\textbullet$ A global topological map can be built fast and correctly through a thinning algorithm. $\textbullet$ Path planning can be easily achieved with a topological map.