• 한국정보처리학회:학술대회논문집
• /
• 한국정보처리학회 2008년도 추계학술발표대회
• /
• pp.1387-1390
• /
• 2008

In a wireless network, handover latency is very important in supporting user mobility with the required quality of service (QoS). In view of this many schemes have been developed which aim to reduce the handover latency. The Hierarchical Mobile IPv6 (HMIPv6) approach is one such scheme which reduces the high handover latency that arises when mobile nodes perform frequent handover in Mobile IPv6 wireless networks. Although HMIPv6 reduces handoff latency, failures in the mobility anchor point (MAP) results in severe disruption or total disconnection that can seriously affect user satisfaction in ongoing sessions between the mobile and its correspondent nodes. HMIPv6 can avoid this situation by using more than one mobility anchor point for each link. In [3], an improved Robust Hierarchical Mobile IPv6 (RH-MIPv6) scheme is presented which enhances the HMIPv6 method by providing a fault-tolerant mobile service using two different MAPs (Primary and Secondary). It has been shown that the RH-MIPv6 scheme can achieve approximately 60% faster recovery times compared with the standard HMIPv6 approach. However, if mobile nodes perform frequent handover in RH-MIPv6, these changes incur a high communication overhead which is configured by two local binding update units (LBUs) as to two MAPs. To reduce this communication overhead, a new cost-reduced binding update scheme is proposed here, which reduces the communication overhead compared to previous schemes, by using an increased number of MAP switches. Using this new proposed method, it is shown that there is a 19.6% performance improvement in terms of the total handover latency.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.2017-2022
• /
• 2004

Data association is a process that matches a recent observation with known data set, which is used for the localization of mobile robots. Edges in topological maps have rich information which can be used for the data association. However, no systematic approach on using the edge data for data association has been reported. This paper proposes a systematic way of utilizing the edge data for data association. First, we explain a Local Generalized Voronoi Angle(LGA) to represent the edge data in 1-dimension. Second, we suggest a key factor extraction procedure from the LGA to reduce the number by $2^7-2^8$ times, for computational efficiency using the wavelet transformation. Finally we propose a way of data association using the key factors of the LGA. Simulations show that the proposed data association algorithm yields higher probability for similar edges in computationally efficient manner.

• 제어로봇시스템학회논문지
• /
• 제11권8호
• /
• pp.678-687
• /
• 2005

This paper describes a relative localization algorithm using odometry data and consecutive local maps. The purpose of this paper is the odometry error correction using the area matching of two consecutive local maps. The local map is built up using a sensor module with dual laser beams and USB camera. The range data form the sensor module is measured using the structured lighting technique (active stereo method). The advantage in using the sensor module is to be able to get a local map at once within the camera view angle. With this advantage, we propose the AVS (Aligned View Sector) matching algorithm for. correction of the pose error (translational and rotational error). In order to evaluate the proposed algorithm, experiments are performed in real environment.

• Journal of Multimedia Information System
• /
• 제4권4호
• /
• pp.249-254
• /
• 2017

Digital vector maps must be compressed effectively for transmission or storage in Web GIS (geographic information system) and mobile GIS applications. This paper presents a polyline compression method that consists of polyline feature-based hybrid simplification and second derivative-based data compression. Experimental results verify that our method has higher simplification and compression efficiency than conventional methods and produces good quality compressed maps.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.174-179
• /
• 2003

Through the simultaneous localization and map building (SLAM) technique, a robot can create maps about its unknown environment while it continuously localizes its position. Grid maps and feature maps have been widely used for SLAM together with application of probability methods and POMDP (partially observed Markov decision process). But this approach based on grid maps suffers from enormous computational burden. Topological maps, however, have drawn more attention these days because they are compact, provide natural interfaces, and are easily applicable to path planning in comparison with grid maps. Some topological SLAM techniques like GVG (generalized Voronoi diagram) were introduced, but it enables the robot to decide only whether the current position is part of GVG branch or not in the GVG algorithm. In this paper, therefore, to overcome these problems, we present a method for updating a global topological map from the local topological maps. These local topological maps are created through a labeled Voronoi diagram algorithm from the local grid map built based on the sensor information at the current robot position. And the nodes of a local topological map can be utilized as the features of the environment because it is robust in light of visibility problem. The geometric information of the feature is applied to the extended Kalman filter and the SLAM in the indoor environment is accomplished. A series of simulations have been conducted using a two-wheeled mobile robot equipped with a laser scanner. It is shown that the proposed scheme can be applied relatively well.

• 한국측량학회:학술대회논문집
• /
• 한국측량학회 2010년 춘계학술발표회 논문집
• /
• pp.311-313
• /
• 2010

This study is on the adapting vehicle-based mobile mapping system to the frequent unscheduled revision of 1:5000 scale national base map. We analyzed map layers which could be built by vehicle-based mobile mapping systems and studied surveying methods for each layers. Also, the methods of maintain surveying accuracy to satisfy accuracy standards of national base map were suggested. The maps of Yeouido, Hyangnam, and Suwon area were revised by vehicle-based mobile mapping system on a trial bases and possibility of utilizing vehicle-based mobile mapping system for map revision was analyzed. As a results it was revealed that vehicle-based mobile mapping systems were adequate for a irregular revision of national base map.

• 한국정보처리학회:학술대회논문집
• /
• 한국정보처리학회 2012년도 추계학술발표대회
• /
• pp.1464-1467
• /
• 2012

스마트 폰 사용자 수가 2000만명 이상이 됨에 따라 모바일 맵 서비스에 대한 수요가 급증하고 있다. 한편, 모바일 기반의 맵 응용의 개발을 위해선 WINDEV Mobile 17과 같은 유료 개발 환경이 있지만 자동화 지원 경도가 미약하여 맵 응용의 생산성이 떨어지고 유지 보수 기간도 많이 소요된다. 우리가 설계하고 구현한 MobileMapGen은 GoogleMaps API를 사용하며 서버 측을 위해 CMS(Content Management System)인 Drupal 환경에 사용 가능 한 모듈들을 생성하고 클라이언트 측엔 iOS 앱을 생성해 맵 응용에 대한 생산성을 향상시켜 준다. 맵 컨텐츠와 그와 연관된 컨텐츠들을 함께 제공하는 모바일의 맵 응용 생성기인 MobileMapGen과 달리 WINDEV Mobile 17, MobilForms, 그리고 VisualStudio.NET는 맵 인터페이스를 지원하지 않거나 위치 정보 형태만을 표시한다. 그렇기 때문에 사용자가 원하는 지형/지물 컨텐츠 타입을 생성하거나 맵 상에 표시하고 관심의 대상인 지형/지물과 연관된 컨텐츠들을 검색할 수 없다.

• 한국항행학회논문지
• /
• 제17권6호
• /
• pp.633-637
• /
• 2013

위치정보와 지도를 이용하여 자신이나 타인 또는 사물의 경로추적이 필요한 경우가 있다. 최근에 모바일기기의 발달은 이것을 가능하게 하였다. 지금까지 스마트폰이나 태블릿 컴퓨터등의 모바일기기의 경로추적 시스템을 개발하는데 네이티브 방법을 사용하였다. 이 방법의 단점은 같은 서비스를 다른 플랫폼에 제공하려면 다시 작업해야한다는 것이다. 이런 단점을 극복하기 위하여 웹 앱과 하이브리드 앱이 개발되었다. 하이브리 앱은 네이티브앱과 외관상 비슷하기 때문에 사용자들이 웹 앱보다 더 선호한다. 본 논문에서는 모바일 기기에서 경로탐색이 가능한 앱을 개발하였다. 최근에 나온 HTML5에 위치정보 기능이 추가 되었는데 이를 이용하여 경로추적 시스템을 하이브리드 앱으로 구현하였다. 먼저 HTML5, CSS 와 자바스크립트 등을 이용하여 웹 앱을 만들고 이를 하이브리드 앱 도구의 하나인 폰갭을 이용하여 하이브리드 앱으로 변환하였다. 이 시스템의 구현으로 경로탐색이 필요한 여러 분야에서 모바일 기기에 관계없이 빠르고 효율적인 앱 개발이 가능하게 되었다.

• 한국컴퓨터정보학회논문지
• /
• 제25권12호
• /
• pp.173-186
• /
• 2020

본 논문에서는 지하공간 통합지도를 탐사 현장에서 활용하기 위한 모바일 단말기용 서비스 시스템을 설계 구현한다. 모바일 단말기용 현장활용 서비스 시스템은 지하공간 통합지도 관리 시스템에서 제공하는 타일맵, 3차원 지형정보, 지하구조물, 지하시설물, 지반정보 등을 현재 위치에 따라 3차원으로 가시화하도록 설계되었고, 현장 탐사로 얻어진 결과를 실시간으로 반영하도록 설계되었다. 또한, 제안된 시스템은 모바일 단말기의 무선 네트워크 및 기기 특성에 따른 제약 문제로 지하공간 통합지도를 glTF 포맷 형태로 전송 후 가시화 하도록 구현하였다. 구현된 모바일 서비스 시스템은 지하공간 탐사 현장에서 3차원으로 지도 및 공간 객체들을 가시화하여 사용자에게 정확하고 통합된 지하공간 데이터를 제공함으로써 탐사 현장에서의 사고 발생을 방지할 수 있다. 그리고, 갱신된 지하공간 데이터를 실시간으로 지하공간 통합지도 관리 시스템에 전송하여 최신성과 정확성을 유지할 수 있다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.2033-2038
• /
• 2003

This paper describes an integrated navigation strategy for the autonomous service robot PSR. The PSR is under development at the KIST for service tasks in indoor public environments. The PSR is a multi-functional mobile-manipulator typed agent, which works in daily life. Major advantages of proposed navigation are as follows: 1) Structured control architecture for a systematic integration of various software modules. A Petri net based configuration design enables stable control flow of a robot. 2) A range sensor based generalized scheme of navigation. Any range sensor can be selectively applied using the proposed navigation scheme. 3) No need for modification of environments. (No use of artificial landmarks.) 4) Hybrid approaches combining reactive behavior as well as deliberative planner, and local grid maps as well as global topological maps. A presented experimental result shows that the proposed navigation scheme is useful for mobile service robot in practical applications.