• 한국측량학회:학술대회논문집
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• 한국측량학회 2004년도 춘계학술발표회논문집
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• pp.577-580
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• 2004

Recently, in a field of cadastre, a computerization of cadastral map is in progress with great growth of GIS field. Also, the needs for the integration of land and building information are widely increasing for integral-management and its application of various land related information. In this study, it is constructed a 3D information cadastral map model that can make the integral management of land, building, connecting land recorders, building management ledgers, building titles, building pictures, and related attribute information.

• 제어로봇시스템학회논문지
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• 제15권12호
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• pp.1246-1253
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• 2009

To be high efficient for a navigation of unmanned ground vehicle, it must be able to distinguish between safe and hazardous regions in its immediate environment. We present an advanced method using laser range finder for building global 2D digital maps that include environment information. Laser range finder is used for mapping of obstacles and driving environment in the 2D laser plane. Rotary encoders are used for localization of UGV. The main contributions of this research are the development of an algorithm for global 2D map building and it will turn a UGV navigation based on map matching into a possibility. In this paper, a map building algorithm will be introduced and an assessment of algorithm reliability is judged at an each environment.

• 한국측량학회지
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• 제26권3호
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• pp.275-284
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• 2008

수치지도의 효율적 갱신방안이 필요한 이유는 수치지도가 지자체 및 여러 지리정보시스템의 기본도로 활용되고 있어 수치지도의 수정갱신 이슈가 공간정보 활용 극대화의 열쇠가 되기 때문이다. 이에 본 연구에서는 수치지도의 건물레이어를 중심으로 그 속성정보를 효율적으로 갱신하기 위해 건축물대장과 연계하는 방안을 제시하였다. 이를 위해 가장 필수적인 사항은 두 자료의 건물간 연계가 일대일로 이루어져야 한다는 점으로, 본 연구에서는 건축물대장과 수치지도의 건물도형에 새주소사업의 건물번호를 공통으로 부여하여 일대일로 연계함으로서 ID 기반의 건물레이어 속성정보의 수정갱신 모델을 수립하였다.

• 제어로봇시스템학회논문지
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• 제22권9호
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• pp.745-752
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• 2016

We suggest an efficient Simultaneous Localization and 3D Polygon Map Building (SLAM) method with Kinect depth sensor for mobile robots in indoor environments. In this method, Kinect depth data is separated into row planes so that scan line segments are on each row plane. After grouping all scan line segments from all row planes into line groups, a set of 3D Scan polygons are fitted from each line group. A map matching algorithm then figures out pairs of scan polygons and existing map polygons in 3D, and localization is performed to record correct pose of the mobile robot. For 3D map-building, each 3D map polygon is created or updated by merging each matched 3D scan polygon, which considers scan and map edges efficiently. The validity of the proposed 3D SLAM algorithm is revealed via experiments.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.536-538
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• 2006

The most important factor of mobile robot is to build a map for surrounding environment and estimate its localization. This paper proposes a real-time localization and map building method through 3-D reconstruction using scale invariant feature from monocular camera. Mobile robot attached monocular camera looking wall extracts scale invariant features in each image using SIFT(Scale Invariant Feature Transform) as it follows wall. Matching is carried out by the extracted features and matching feature map that is transformed into absolute coordinates using 3-D reconstruction of point and geometrical analysis of surrounding environment build, and store it map database. After finished feature map building, the robot finds some points matched with previous feature map and find its pose by affine parameter in real time. Position error of the proposed method was maximum. 8cm and angle error was within $10^{\circ}$.

• 한국생산제조학회지
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• 제20권2호
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• pp.133-138
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• 2011

RFID system can be used to improve object recognition, map building and localization for robot area. A novel method of indoor navigation system for a mobile robot is proposed using RFID technology. The mobile robot With a RFID reader and antenna is able to find what obstacles are located where in circumstance and can build the map similar to indoor circumstance by combining RFID information and distance data obtained from sensors. Using the map obtained, the mobile robot can avoid obstacles and finally reach the desired goal by $A^*$ algorithm. 3D map which has the advantage of robot navigation and manipulation is able to be built using z dimension of products. The proposed robot navigation system is proved to apply for SLAM and path planning in unknown circumstance through numerous experiments.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.86-88
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• 2005

An autonomous semantic-map building method is proposed, with the robot localized in the semantic-map. Our semantic-map is organized by objects represented as SIFT features and vision-based relative localization is employed as a process model to implement extended Kalman filters. Thus, we expect that robust SLAM performance can be obtained even under poor conditions in which localization cannot be achieved by classical odometry-based SLAM

• 디지털산업정보학회논문지
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• 제5권3호
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• pp.39-45
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• 2009

In this paper we present a cleaning robot system for an autonomous mobile robot. Our robot performs goal reaching tasks into unknown indoor environments by using sensor fusion. The robot's operation objective is to clean floor or any other applicable surface and to build a map of the surrounding environment for some further purpose such as finding the shortest path available. Using its cleaning robot system for an autonomous mobile robot can move in various modes and perform dexterous tasks. Performance of the cleaning robot system is better than a fixed base redundant robot in avoiding singularity and obstacle. Sensor fusion using the clean robot improves the performance of the robot with redundant freedom in workspace and Map-Building. In this paper, Map-building of the cleaning robot has been studied using sensor fusion. A sequence of this alternating task execution scheme enables the clean robot to execute various tasks efficiently. The proposed algorithm is experimentally verified and discussed with a cleaning robot, KCCR.

• 로봇학회논문지
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• 제6권1호
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• pp.42-48
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• 2011

It is very important for a mobile robot to recognize and model its environments for navigation. However, the grid map constructed by sonar sensors cannot accurately represent the environment, especially the narrow environment, due to the angular uncertainty of sonar data. Therefore, we propose a map building scheme which combines sonar sensors and IR sensors. The maps built by sonar sensors and IR sensors are combined with different weights which are determined by the degree of translational and rotational motion of a robot. To increase the effectiveness of sensor fusion, we also propose optimal sensor arrangement through various experiments. The experimental results show that the proposed method can represent the environment such as narrow corridor and open door more accurately than conventional sonar sensor-based map building methods.

• 한국산업융합학회 논문집
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• 제21권6호
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• pp.285-299
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• 2018

Recently much attention in building smart factory has been dramatically increased. Despite the growing interest in smart factory, few practical guidelines exist how to successfully build smart factory. The purpose of this study is to postulate and develop a road map for building successful smart factory. To enhance mundane realism, we design the road map through University-Industry research collaboration. Specifically, drawing analysis of University-Industry research collaboration, we design a prototype and detailed road map or building successful smart factory. Moreover, we apply the road map into actual smart factory development. By doing so, we successfully prove the effectiveness of the road map. Therefore, this study provides the valuable guidelines and directions to build a successful smart factory. Ultimately this study is able to help a variety of factories which establish and implement smart factory. Further, we hope that this study will be placed to be an important foundation research on behalf of smart factory building.