• 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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.659-660
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• 2008

• Spatial Information Research
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• v.15 no.2
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• pp.123-134
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• 2007

The building boundary should be registered in the cadastral map for the protection of property using the expansion of the registration items in the cadastral record and the construction of 3D-cadastral information system. In this study, the efficiency of registering the building boundary was suggested by non-target TS survey through the comparison between target TS and non-target TS survey about an accuracy and efficiency. At the result of this research, the RMSE of target TS and non-target TS survey is the X; ${\pm}0.056m$ and Y; ${\pm}0.043m$. Therefore, non-target TS survey shows the high accuracy. Also, the non-target TS survey is more efficient cost on time and personnel than target TS.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.5
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• pp.343-350
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• 2019

Map labels are the most recognizable map elements using the human visual system because they are essentially a natural language. In this study, an experiment was conducted using an eye-tracker to objectively record and analyze the response of subjects regarding visual attention to map labels. A primary building object was identified by analyzing visit counts, average visit duration, fixation counts, and the average fixation duration of a subject's gaze for an area of interest acquired using the eye-tracker. The unmarked rate of map labels in Google map, Naver map, and Daum map was calculated. As a result, this rate exceeded fifty-one percent, with the lowest rate recorded for Google map. It is expected that the results of this study will contribute to an increase in the diversity of research in terms of the spatial cognition approach for map labels, which is more helpful to users than the existing body of work on methods of expression for labels.

• 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.

• Journal of Korean Society for Geospatial Information Science
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• v.13 no.3 s.33
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• pp.25-32
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• 2005

This paper presents a method for point-based 3D building reconstruction using Lidar data and digital map. The proposed method consists of three processes: extraction of building roof points, identification of roof types, and 3D building reconstruction. After extracting points inside the polygon of building, the ground surface, wall and tree points among the extracted points are removed through the filtering process. The filtered points are then fitted into the flat plane using ODR(Orthogonal Distance Regression) in the first place. If the fitting error is within the predefined threshold, the surface is classified as a flat roof. Otherwise, the surface is fitted and classified into a gable or arch roof through RMSE analysis. Experimental results showed that the proposed method classified successfully three different types of roof and that the fusion of LIDAR data and digital map could be a feasible method of modeling 3D building reconstruction.

• Land and Housing Review
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• v.13 no.1
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• pp.113-129
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• 2022

A building's eco-friendliness is directly related to various values including the life cycle cost of a building. However, the conventional architectural design method has a limitation in that it cannot create an optimized case according to the surrounding environmental conditions. Therefore, the purpose of this research is to present a design assistance tool that can review planning cases optimized for the environmental conditions of the building site in the planning stage of architectural production. To achieve the purpose of the study, an algorithm for realizing 3D modeling of the region and analysis of the solar environment was produced based on the site contours, building, and road information from the digital topographic map provided by the National Geographic Information Institute. To examine the validity of the developed algorithm, a comparative experiment was conducted targeting the elevation direction of the existing building. As a result, it was found that the optimal elevation direction selected by the algorithm can receive higher insolation compared to the front facade of the main building.

• Proceedings of the Korea Society of Design Studies Conference
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• 2004.05a
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• pp.324-325
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• 2004

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.7
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• pp.1437-1443
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• 2009

This paper is presented an simultaneous localization and mapping (SLAM) algorithm using ultrasonic for robot and electric compass, encoder, and gyro. Generally, localization based upon electric compass, encoder, and gyro can be measured just local position in workspace. However, actual robot must need an information of the absolute position in workspace to perform its mission, Absolute position in workspace could be calculated using SLAM algorithm. To implement SLAM in this paper, a map is built using ultrasonic sensor and hierarchical map building method. And then, we the map will be transformed into a feature map. The absolute position could be calculated using the feature map and map mapping method. As a test bed, we designed and construct an autonomous robot and showed the experimental performance of the proposed SLAM algorithm based on feature map. Experimental result, we verified that robot can found all absolute position on experiments using proposed SLAM algorithm.

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
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• 2010.09a
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• pp.291-291
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• 2010

Emerging global economic growth and increasing demand for energy supply and demand imbalance and the excessive use of fossil fuels existing the rapidly increasing greenhouse gas emissions and resource depletion of global energy crisis is deepening. Accordingly, improvement of living conditions around and through the natural ecological preservation and the need for a comfortable life for the meeting the importance of energy management and consumption are emerging. Many in the field of architecture for energy-saving measures and conducts research and analysis from the early stages to verify the energy performance of BIM (Building Information Model) technology development and commercialization through the building's energy performance to an objective technology forecasts Analysis of the existing building energy performance in waste management also possible that "BIM-based green building process, the possibility of" suggested. In this study, BIM through the analysis of information using the structures for the management of waste, energy and physical data collected by Mapping it can effectively plan resources for recycling were analyzed.