• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.101.1-101
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• 2001

This paper describes a grid mapping for a vision based mobile robot in uncertain indoor environment. The map building is a prerequisite for navigation of a mobile robot and the problem of feature correspondence across two images is well known to be of crucial Importance for vision-based mapping We use a stereo matching algorithm obtained by singular value decomposition of an appropriate correspondence strength matrix. This new correspondence strength means a correlation weight for some local measurements to quantify similarity between features. The visual range data from the reconstructed disparity image form an occupancy grid representation. The occupancy map is a grid-based map in which each cell has some value indicating the probability at that location ...

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.99-104
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• 1999

This paper proposes an efficient method constructing a local map using the data of a scanning laser range finder. A laser range finder yields distance data of polar form, that is, distance data corresponding to every scanning directions. So, the data consists of directional angle and distance. We propose a new method to find a line fitting with a set of such data. The method uses Log-Hough Transformation. Usually, map building from these data requires some transformations between different coordinate systems. The new method alleviates such complication. Also, the method simplifies computation for line recognition and eliminates the slope quantization problems inherent in the classical Cartesian Hough transform method. To show the efficiency of the proposed method, it is applied to find a local map using the data from a laser range finder PLS(Proximity Laser Scanner, made by SICK).

• Journal of the Korean Society for Precision Engineering
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• v.27 no.7
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• pp.36-48
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• 2010

This paper is concerned with stereo vision-based approach to detect obstacles and to generate the path of destination from the start. The hexapod robot in the experiment is cable of walking by legs and driving by wheels simultaneously. The hexapod robot operates under the driving mode normally, and it changes driving mode to walking mode to overcome obstacles using its legs. Disparity map, which is the correlation between two images taken by stereo camera, is employed for calculation of the distance between the robot and obstacles. When the obstacles information is extracted from the disparity map, the potential field algorithm is applied to create the obstacle-avoidance path. Simulator, based on OpenGL, is developed to generate the graphical path, and the experimental results are shown for the verification of the proposed algorithm.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2451-2453
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• 2002

In this paper, we present an infrared sensors aided map building method for mobile robot using genetic algorithm and fuzzy logic. Existing Bayesian update model using ultrasonic sensors only has a problem of the quality of map being degraded in the wall with irregularity which is caused by the wide beam width of sonar waves and Gaussian probability distribution. In order to solve this problem we propose an improved method of map building using supplementary infrared sensors. In the method, wide beam width of sonar waves is divided by infrared sensors and probability is distributed according to infrared sensors' information using fuzzy logic and genetic algorithm.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2729-2731
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• 2001

In this paper, we studied on the real-time environment map building for the mobile robot navigation using the stereo camera system. Distance measurement are necessary to build the environment map. We used a area-based stereo matching for the distance measurement with the stereo camera system. To reduce the computation time, we used DSP processor on the vision board, took a suitable area size for stereo matching, and used hierarchical search method. Using the fast acquired distance values, the environment map was built.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.1169-1174
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• 1991

In conventional geographic mapping system, it is needed to input many already existing geographic map into computer system for secure and efficient maintence. Because of large map data, it is required to construct layers from map image for easy display, fast retreval and efficient storage. Thus this paper represents a method of the extracting features from contour map and constructing three layers. The layers are symbol, building, contour line. Experimental results are presented confirming the method's high extraction.

• Journal of Korean Society for Geospatial Information Science
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• v.16 no.3
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• pp.35-41
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• 2008

Recently needs for the convergence of CAD and GIS data are increasing, and many studies on converting two systems to each other are being carried out. In this study, to revise and update the building data of digital map using CAD data for construction, the outline of building is abstracted from the CAD data and the outline is generalized to the same level of detail with the building data of digital map. Several line simplification algorithms to generalize the outline are adopted and compared, especially at the view of satisfaction to the drawing rule for digital map. Douglas-Peucker algorithm, Lang's algorithm, Reumann-Witkam algorithm, and Opheim algorithm are applied as the line simplification method. To evaluate the results of these algorithms, visual assessment and variation ratio of the number of points, total length of lines, the area of polygon, and satisfaction ratio to the drawing rule of digital map are analyzed. The result of Lang algorithm and Douglas-Peucker algorithm show superior satisfaction ratio. But general satisfaction ratio is 50~60% for all algorithm. Therefore there seems to be a limit to use these algorithms for the simplification method to update the building data in digital map and it is necessary to develop line simplification algorithm which satisfy the drawing rule well.

• Spatial Information Research
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• v.12 no.3
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• pp.285-298
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• 2004

Transportation digital map has built based on NGIS (national geography institute's 1 :5000 digital database) which derived from the aerial photo materials. Transportation digital map is a part of National Transportation Database Building Project carried out by the Korea Transport Institute and Ministry of Construction and Transportation. Transportation digital map for the purpose of transportation plan and investment has been updated and corrected the NGIS database especially for road network. Transportation digital map database is essential basic data fully applied for transportation policy and planning. The database must be reliable and objective to be applied for national transportation policy decision and transportation analysis. In addition, it needs accuracy and currentness to reflect the road network for the survey year. To satisfy the purpose of the database, following steps are necessary first, data Production and building has to be done by guideline of survey and database building. Secondly, geometric and logical errors which can occur during the survey and database building should be carefully detected. Thirdly, sectional guideline for database examination and procedure needs to be set up systematically and coherently This study is about examination guidelines for section and procedure on nodes and links which are essential object in transportation digital map database. According to the type of error, consistent and systematic error examination can lead to quality guarantee for objective and reliable database.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.45 no.3
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• pp.1-10
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• 2008

An occupancy map is a representation methodology describing the region occupied by objects in 3D space, which can be utilized for autonomous navigation and object recognition. In this paper, we describe a technique for building an occupancy map using depth data extracted from stereo images. In addition, some techniques are proposed for utilizing the occupancy map for the segmentation of object regions. After the geometric information on the ground plane is extracted from a disparity image, the occupancy map is constructed by projecting each matched point to the ground plane-based 3D space. We explain techniques for extracting moving object regions using the occupancy map and present experimental results using real stereo images.