• Advances in robotics research
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• v.1 no.1
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• pp.21-39
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• 2014

Due to the rapid progress in the field of robotics, it is a high time to concentrate on the development of a robot that can manoeuvre in all type of landscapes, ascend and descend stairs and sloping surfaces autonomously. This paper presents details of a prototype robot which can navigate in very rough terrain, ascend and descend staircase as well as sloping surface and cross ditches. The robot is made up of six differentially steered wheels and some passive mechanism, making it suitable to cross long ditches and landscape undulation. Static stability of the developed robot have been carried out analytically and navigation capability of the robot is observed through simulation in different environment, separately. Description of embedded system of the robot has also been presented and experimental validation has been made along with some details on obstacle avoidance. Finally the limitations of the robot have been explored with their possible reasons.

• International Journal of Advanced Culture Technology
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• v.11 no.2
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• pp.381-388
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• 2023

Small-scale environmental impact assessments have limitations in terms of survey duration and evaluation resources, which can hinder the assessment and analysis of the current situation. In this study, we propose the use of drone technology during the environmental impact assessment process to supplement these limitations in the current situation analysis. Drone photography can provide rapid and accurate high-resolution images, allowing for the collection of various information about the target area. This information can include different types of data such as terrain, vegetation, landscape, and real-time 3D spatial information, which can be collected and processed using GIS software to understand and analyze the environmental conditions. In this study, we confirmed that terrain and vegetation analysis and prediction of the target area using drone photography and GIS analysis software is possible, providing useful information for environmental impact assessments.

• Journal of Korean Society for Geospatial Information Science
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• v.3 no.1 s.5
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• pp.105-113
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• 1995

Three-dimensional landscape map is very useful in terrain analysis as it looks like real shape of terrain. When three-dimensional landscape map is needed, landscape photos achieved at a position of high elevation or by airplane are generally used. But, this approach can not fully satisfy the user's need to get pictures from various view points. In addition, because photos have some geometric displacement caused by the principle of central projection of camera, it is hard to get accurate locations from the photo. This paper aims to get three-dimensional landscape map similar to real terrain feature from vertical stereo aerial photos by digital photogrammetric techniques. This approach can provide a very useful data for three-dimensional terrain analysis as a function of Geo-Spatial Information System.

• Journal of the Korea Computer Graphics Society
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• v.17 no.2
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• pp.1-9
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• 2011

In recent researches, several LOD techniques are used for real-time visualization of large sized terrain data. However, during mesh simplification, geometry popping may occur in consecutive frames, because of the geometric error. We propose an efficient method for reducing the geometry popping using roughness map and bias map. A roughness map and a bias map are used to move vertices of the terrain mesh to appropriate position where they minimize the geometry errors. A roughness map and a bias map are represented as a texture suitable for GPU processing. Moving vertices using bias map is processed on the GPU, so the high-speed visualization can be possible.

• Journal of the Korea Computer Graphics Society
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• v.15 no.3
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• pp.27-33
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• 2009

In terrain visualization, the quadtree is the most frequently used data structure for progressive mesh generation. The quadtree provides an efficient level-of-detail selection and view frustum culling. However, most applications using quadtrees are performed by the CPU, since the hierarchical data structure cannot be manipulated in a programmable rendering pipeline. For this reason, quadtree-based methods show lower performance and higher dependancy of CPU in comparison to GPU-based methods. We present a quadtree-based terrain-rendering method for GPU execution that uses vertex multiplication. It offers higher performance than previous CPU-based quadtree methods, without loss of image quality.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.558-565
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• 2011

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for surveillance, reconnaissance, search and rescue, etc. We considered a terrain-adaptive and transformable hybrid robot platform that is equipped with rapid navigation capability on flat floors and good performance in overcoming stairs or obstacles. The navigation mode transition is determined and implemented by adaptive driving mode control of the mobile robot. In order to maximize the usability of wheel-track hybrid robot platform, we propose a terrain-adaptive and user-friendly remote controller and verify the efficiency and performance through its navigation performance experiments in real and test-bed environments.

• The Transactions of the Korea Information Processing Society
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• v.13 no.10
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• pp.559-567
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• 2024

The purpose of this paper is to design and implement a wheel-driven small intelligent robot with intelligent sensor signal processing and various driving methods to overcome non-flat terrain such as slopes and steps and avoid obstacles. An eccentric gear structure was proposed to overcome non-flat terrain, optimal sensor signal processing was applied to maintain real-time balance, and an omnidirectional driving method that enables obstacle recognition and escape from a narrow space using a LiDAR sensor was proposed and designed to overcome obstacles. An optimal embedded system was designed and constructed to implement and control the intelligent elements of the robot.

• Journal of Korea Multimedia Society
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• v.15 no.3
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• pp.398-407
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• 2012

We propose a tree modeling method of expressing realistically and efficiently numerous trees distributed on a broad terrain. This method combines and simplifies the recursive hierarchy of tree branch and branch generation process through self-organizing from buds, allowing users to generate trees that can be used more intuitively and efficiently. With the generation process the leveled structure and the appearance such as branch length, distribution and direction can be controlled interactively by user. In addition, we introduce an environment-adaptive model that allows to grow a number of trees variously by controlling at the same time and we propose an efficient application method of growing environment. For the real-time rendering of the complex tree models distributed on a broad terrain, the rendering process, the LOD(level of detail) for the branch surfaces, and shader instancing are introduced through the GPU(Graphics Processing Unit). Whether the numerous trees are expressed realistically and efficiently on wide terrain by proposed models are confirmed through simulation.

• Journal of Korea Multimedia Society
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• v.19 no.8
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• pp.1587-1596
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• 2016

This paper presents an interactive locomotion controller using motion capture data and inverted pendulum model. Most of the data-driven character controller using motion capture data have two kinds of limitation. First, it needs many example motion capture data to generate realistic motion. Second, it is difficult to make natural-looking motion when characters navigate dynamic terrain. In this paper, we present a technique that uses dimension reduction technique to motion capture data together with the Gaussian process dynamical model (GPDM), and interpolates the low-dimensional data to make final motion. With the low-dimensional data, we can make realistic walking motion with few example motion capture data. In addition, we apply the inverted pendulum model (IPM) to calculate the root trajectory considering the real-time user input upon the dynamic terrain. Our method can be used in game, virtual training, and many real-time applications.

• Korean Journal of Remote Sensing
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• v.20 no.6
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• pp.409-418
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• 2004

LOD is a widely used technique in 3D game and animation to represent large 3D data sets smoothly in real-time. Most LOD algorithms use a binary tree to keep the ancestor information. A new algorithm proposed in this paper, however, do not keep the ancestor information, thus use the less memory space and rather increase the rendering performance. To verify the efficiency of the proposed algorithm, performance comparison with ROAM is conducted in real-time 3D terrain navigation. Result shows that the proposed algorithm uses about 1/4 of the memory space of ROAM and about 4 times faster than ROAM.