• 한국정밀공학회지
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• 제26권8호
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• pp.62-71
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• 2009

In mobile robotics, ultrasonic sensors became one of the most popular devices for collision avoidance and navigation primarily due to data robustness, the easy availability of low-cost systems, their compact size, simple circuits, and their ease in interfacing with computers. However, ultrasonic sonic sensors are subject to noise which results in inaccuracy of mapping and localization of the robot. This paper introduces a new approach to enhance environmental maps based on ultrasonic range data using linear interpolation and Newton interpolation. The simulation and experimental results show that the proposed method improves of the accuracy of the map through better distance estimation between the mobile robot and obstacles.

• 로봇학회논문지
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• 제8권4호
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• pp.256-265
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• 2013

A local map-based exploration algorithm for mobile robots is presented. Segmented frontiers and their relative transformations constitute a tree structure. By the proposed efficient frontier segmentation and a local map management method, a robot can reduce the unknown area and update the local grid map which is assigned to each frontier node. Although this local map-based exploration method uses only local maps and their adjacent node information, mapping completion and efficiency can be greatly improved by merging and updating the frontier nodes. Also, we suggest appropriate graph search exploration methods for corridor and hall environments. The simulation demonstrates that the entire environment can be represented by well-distributed frontier nodes.

• Spatial Information Research
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• 제21권1호
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• pp.1-13
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• 2013

This paper describes a GIS framework for geo-semantic information retrieval in mobile computing environments. We built geographic ontologies of POI (point of interest) and weather information for use in the combination of semantic, spatial, and temporal functions in a fully integrated database. We also implemented a geo-semantic app for Android-based smartphones that can extract more appropriate POIs in terms of user contexts and geographic ontologies and can visualize the POIs using Google Maps API (application programming interface). The feasibility tests showed our geo-semantic app can provide pertinent POI information according to mobile user contexts such as location, time, schedule, and weather. We can discover a baking CVS (convenience store) in the test of bakery search and can find out a drive-in theater for a not rainy day, which are good examples of the geo-semantic query using semantic, spatial, and temporal functions. As future work, we should need ontology-based inference systems and the LOD (linked open data) of various ontologies for more advanced sharing of geographic knowledge.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.652-657
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• 1991

Up to date, application areas of mobile robots have been expanded. In addition, Many types of LRF(Laser Range Finder) systems have been developed to acquire three dimensional information about unknown environments. However in real world, because of various noises (sunlight, fluorescent light), it is difficult to separate reflected laser light from these noise. To overcome the previous restriction, we have developed a new type vision system which enables a mobile robot to measure the distance to a object located 1-5 (m) ahead with an error than 2%. The separation and detection algorithm used in this system consists of pulse phase difference method and multi-stripe structured light. The effectiveness and feasibility of the proposed vision system are demonstrated by 3-D maps of detected objects and computation time analysis.

• ETRI Journal
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• 제43권4호
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• pp.617-629
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• 2021

Although the actual visual simultaneous localization and mapping (SLAM) algorithms provide highly accurate tracking and mapping, most algorithms are too heavy to run live on embedded devices. In addition, the maps they produce are often unsuitable for path planning. To mitigate these issues, we propose a completely closed-loop online dense RGB-D SLAM algorithm targeting autonomous indoor mobile robot navigation tasks. The proposed algorithm runs live on an NVIDIA Jetson board embedded on a two-wheel differential-drive robot. It exhibits lightweight three-dimensional mapping, room-scale consistency, accurate pose tracking, and robustness to moving objects. Further, we introduce a navigation strategy based on the proposed algorithm. Experimental results demonstrate the robustness of the proposed SLAM algorithm, its computational efficiency, and its benefits for on-the-fly navigation while mapping.

• 한국측량학회지
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• 제37권2호
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• pp.45-53
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• 2019

RGB-D SLAM (Simultaneous Localization and Mapping) refers to the technology of using deep camera as a visual sensor for SLAM. In view of the disadvantages of high cost and indefinite scale in the construction of maps for laser sensors and traditional single and binocular cameras, a method for creating three-dimensional map of indoor environment with deep environment data combined with RGB-D SLAM scheme is studied. The method uses a mobile robot system equipped with a consumer-grade RGB-D sensor (Kinect) to acquire depth data, and then creates indoor three-dimensional point cloud maps in real time through key technologies such as positioning point generation, closed-loop detection, and map construction. The actual field experiment results show that the average error of the point cloud map created by the algorithm is 0.0045m, which ensures the stability of the construction using deep data and can accurately create real-time three-dimensional maps of indoor unknown environment.

• 지적과 국토정보
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• 제46권1호
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• pp.59-74
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• 2016

최근 기후변화에 따른 집중호우로 인해 도심지 옹벽 및 축대붕괴, 토사유실 그리고 산사태가 발생하고 있다. 본 연구에서는 토양도, DEM, 토지피복도와 같은 공간정보를 RUSLE 모델에 적용하여 토사유실모델링을 수행하였다. 특히 토사유실량을 지적도와 연계하여 필지별로 토사유실 및 단위토사유실 등급도를 작성하였으며, 토사유실 등급별로 필지수를 계산할 수 있었다. 또한 도시계획이나 건설 분야에서 토사유실 등급을 현장에서 확인할 수 있도록 모바일 GIS 기반의 토사재해정보시스템을 개발하였다. 토사재해정보시스템을 통해 토지대장, 건축물대장 그리고 도로구간대장에 대한 현황을 확인할 수 있으며, 필지별로 RUSLE 인자와 토사유실량 그리고 토사재해등급을 확인할 수 있었다. 또한 행정동과 토사유실등급별로 해당 필지의 위치와 속성을 검색함으로써 현장에서 토사재해업무를 효과적으로 지원할 수 있을 것으로 판단된다.

• 한국통신학회논문지
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• 제31권11B호
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• pp.945-952
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• 2006

Hierarchical Mobile IPv6(HMIPv6) 네트워크에서 도메인간의 핸드오버(Inter-domain handover)가 발생할 때 Mobile Nodes(MNs)는 과도한 신호전달 트래픽과 긴 핸드오버 지연시간에 의해 영향을 받게 되고, 이로 인하여 유지하고 있는 연결들이 깨어질 수도 있다. 또, 전체적인 시스템 성능은 Mobile Anchor Point(MAP)의 선택 방법과 부하 상태에 따라 큰 영향을 받는다. 따라서 본 논문에서는 부하를 MAP들에 분산하면서 도메인간의 핸드오버를 감소시킬 수 있는 동적인 MAP 선택 알고리즘을 제안한다. 제안한 알고리즘의 성능 분석을 위하여 신호 전달 비용에 대한 분석적 모델을 수립하고 시뮬레이션을 수행하였다. 수치결과와 시뮬레이션 결과를 통하여 제안한 알고리즘이 IETF HMIPv6에 기반을 둔 기존의 방법에 비해 부하를 더 균형 있게 분산시키고, 도메인 간 핸드오버의 횟수와 평균 신호 전달 비용을 감소시킨다는 것을 확인할 수 있었다.

• 전기학회논문지
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• 제65권12호
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• pp.2138-2144
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• 2016

People with visual disabilities suffer environmentally, socially, and technologically. Navigating through places and recognizing objects are already a big challenge for them who require assistance. This study aimed to develop an android-based assistive application for the visually impaired. Specifically, the study aimed to create a system that could aid visually impaired individuals performs significant tasks through object recognition and identifying locations through GPS and Google Maps. In this study, the researchers used an android phone allowing a visually impaired individual to go from one place to another with the aid of the application. Google Maps is integrated to utilize GPS in identifying locations and giving distance directions and the system has a cloud server used for storing pinned locations. Furthermore, Haar-like features were used in object recognition.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권2호
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• pp.1064-1079
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• 2019

Information security has become increasingly important with the rapid development of mobile devices and internet. An efficient encryption system is a key to this end. In this paper, we propose an image encryption method based on the cross diffusion of two chaotic maps. We use two chaotic sequences, namely the Logistic map and the Chebyshev map, for key generation which has larger security key space than single one. Moreover, we use these two sequences for further image encryption diffusion which decreases the correlation of neighboring pixels significantly. We conduct extensive experiments on several well-known images like Lena, Baboon, Koala, etc. Experimental results show that our algorithm has the characteristics of large key space, fast, robust to statistic attack, etc.