• Journal of information and communication convergence engineering
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• 제8권6호
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• pp.709-715
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• 2010

This paper represents a map building and localization system for mobile robot. Map building and navigation is a complex problem because map integrity cannot be sustained by odometry alone due to errors introduced by wheel slippage, distortion and simple linealized odometry equation. For accurate localization, we propose sensor fusion system using encoder sensor and indoor GPS module as relative sensor and absolute sensor, respectively. To build a map, we developed a sensor based navigation algorithm and grid based map building algorithm based on Embedded Linux O.S. A wall following decision engine like an expert system was proposed for map building navigation. We proved this system's validity through field test.

• 제어로봇시스템학회논문지
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• 제8권6호
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• pp.492-497
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• 2002

Map building is the process of modeling the robot's environment. The map is usually built based on a grid-based or topological approach, which has its own merits and demerits. These two methods, therefore, can be integrated to provide a better way of map building, which compensates for each other's drawbacks. In this paper, a method of building the topological map based on the occupancy grid map through a Voronoi diagram is presented and verified by various simulations. This Voronoi diagram is made by using a labeled Voronoi diagram scheme which is suitable for the occupancy grid maps. It is shown that the Proposed method is efficient and simple fur building a topological map. The simple path-planning problem is simulated and experimented verify validity of the proposed approach.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제5권11호
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• pp.2175-2190
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• 2011

This paper presents the effects of depth map quantization for multiview intermediate image generation using depth image-based rendering (DIBR). DIBR synthesizes multiple virtual views of a 3D scene from a 2D image and its associated depth map. However, it needs precise depth information in order to generate reliable and accurate intermediate view images for use in multiview 3D display systems. Previous work has extensively studied the pre-processing of the depth map, but little is known about depth map quantization. In this paper, we conduct an experiment to estimate the depth map quantization that affords acceptable image quality to generate DIBR-based multiview intermediate images. The experiment uses computer-generated 3D scenes, in which the multiview images captured directly from the scene are compared to the multiview intermediate images constructed by DIBR with a number of quantized depth maps. The results showed that there was no significant effect on depth map quantization from 16-bit to 7-bit (and more specifically 96-scale) on DIBR. Hence, a depth map above 7-bit is needed to maintain sufficient image quality for a DIBR-based multiview 3D system.

• Spatial Information Research
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• 제19권3호
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• pp.73-81
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• 2011

수치지도의 관리 및 운영에 필요한 유일식별자에 대한 연구는 기존의 국토지리정보원을 통하여 많은 연구가 수행되어져 왔으나 그 내용과 과정이 복잡하여 현실적으로 잘 적용되지 못하고 있는 것이 사실이다. 이를 극복하고 객체기반 연속수치지도의 원활한 관리를 위하여 객체기반연속수치지도 유일 식별자인 OSID의 도입이 필요하고 이를 바탕으로 객체기반 연속수치지도 관리체계에 OSID를 적용하고자 한다. 본 논문은 객체기반연속수치지도에 적용할 OSID의 기본구조를 기초로 하여 객체기반 연속수치지도 관리 OSID 시스템 체계를 설계하고, 수치지도의 관리 및 운영상 필요한 유일식별자를 부여하는 방법을 객체기반 연속수치지도에 적용하고자 한다.

• 대한수의학회지
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• 제55권2호
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• pp.89-95
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• 2015

Johne's disease, caused by Mycobacterium avium subsp. paratuberculosis (MAP), is one of the most widespread and economically important diseases in cattle. Current diagnostic methods are based on the detection of anti-MAP antibodies in serum or isolation of the causative agent. However, these techniques are often not applicable for cases of subclinical infection due to relatively low sensitivity. Therefore, finding new antigen candidates that strongly react with the host immune system had been attempted. To effectively detect infection during the subclinical stage, several antigen candidates were selected based on previous researches. Characteristics of the selected antigen candidates were analyzed using bioinformatics-based prediction tools. A total of nine antigens were selected (MAP0862, MAP3817c, MAP2077c, MAP0860c, MAP3954, MAP3155c, MAP1204, MAP1087, and MAP2963c) that have MAP-specific and/or high immune responses to infected animals. Using a transmembrane prediction tool, five of the nine antigen candidates were predicted to be membrane protein (MAP3817c, MAP3954, MAP3155c, MAP1087, and MAP1204). Some of the predicted protein structures identified using the I-TASSER server shared similarities with known proteins found in the Protein Data Bank database (MAP0862, MAP1204, and MAP2077c). In future studies, the characteristics and diagnostic efficiency of the selected antigen candidates will be evaluated.

• 제어로봇시스템학회논문지
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• 제17권9호
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• pp.916-921
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• 2011

Mobile robot localization is the task of estimating the robot pose in a given environment. This research deals with outdoor localization based on an elevation map. Since outdoor environments are large and contain many complex objects, it is difficult to robustly estimate the robot pose. This paper proposes a Hausdorff distance-based map matching method. The Hausdorff distance is exploited to measure the similarity between extracted features obtained from the robot and elevation map. The experiments and simulations show that the proposed Hausdorff distance-based map matching is useful for robust outdoor localization using an elevation map. Also, it can be easily applied to other probabilistic approaches such as a Markov localization method.

• 한국정밀공학회지
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• 제22권12호
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• pp.61-69
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• 2005

This paper presents an efficient method of extracting line segments from the occupancy grids in a grid map. The grid map is composed of 2-D grids that have both the occupancy and orientation probabilities using sonar sensors. We evaluate the orientation information of every grid when the occupancy probability of the grid is updated from sonar range data. To find the shape of an object in the map from orientation information, the orientations are clustered into several groups according to their values. The line segments are, then, extracted from the clusters based on Hough transform. Finally, a feature-based map is built with these line segments. The proposed method is illustrated with the results produced by sets of experiments in an indoor environment.

• 한국정밀공학회지
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• 제31권3호
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• pp.253-259
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• 2014

This study proposes a map-based control method to improve a vehicle's lateral stability, and the performance of the proposed method is compared with that of the conventional model-referenced control method. Model-referenced control uses the sliding mode method to determine the compensated yaw moment; in contrast, the proposed map-based control uses the compensated yaw moment map acquired by vehicle stability analysis. The vehicle stability region is calculated by a topological method based on the trajectory reversal method. The performances of model-referenced control and map-based control are compared under various road conditions and driving inputs. Model-referenced control uses a control input to satisfy the linear reference model, and it generates unnecessary tire lateral forces that may lead to worse performance than an uncontrolled vehicle with step steering input on a road with low friction coefficient. The simulation results show that map-based control provides better stability than model-referenced control.

• 한국정보시스템학회지:정보시스템연구
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• 제17권1호
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• pp.131-153
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• 2008

So many location based service systems, including automobile navigation system logistic management, taxi fleet management, and so on, are being used everywhere. However, these are all outdoors. This paper provides a stepping stone for commercial indoor location based services by developing an integrated system of our indoor positioning and map viewer modules. For the indoor positioning, we propose WLAN (Wireless Local Area Network) based EKF (Extended Kalman Filter) which estimates user's current location and tracts user's trace in the sequence of time. Our map viewer renders a map recorded in an Autocad DXF file and provides functions of map manipulation such as zoom-in, zoom-out, and move. We integrate our indoor positioning and map viewer modules and discuss the experimental results of the integrated system.

• Journal of Positioning, Navigation, and Timing
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• 제9권1호
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• pp.23-31
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• 2020

It is essential to estimate the vehicle localization for an autonomous safety driving. In particular, since LIDAR provides precise scan data, many studies carried out to estimate the vehicle localization using LIDAR and pre-generated map. The road marking always exists on the road because of provides driving information. Therefore, it is often used for map information. In this paper, we propose to generate the Gaussian mixture map based on road-marking information and localization method using this map. Generally, the probability distributions map stores the single Gaussian distribution for each grid. However, single resolution probability distributions map cannot express complex shapes when grid resolution is large. In addition, when grid resolution is small, map size is bigger and process time is longer. Therefore, it is difficult to apply the road marking. On the other hand, Gaussian mixture distribution can effectively express the road marking by several probability distributions. In this paper, we generate Gaussian mixture map and perform vehicle localization using Gaussian mixture map. Localization performance is analyzed through the experimental result.