• Title/Summary/Keyword: Terrain Data

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A Dynamic Modeling of 6×6 Skid Type Vehicle for Real Time Traversability Analysis over Curved Driving Path (곡선주행 실시간 주행성 분석을 위한 스키드 차량의 동역학 모델링)

  • Joo, Sang-Hyun;Lee, Ji-Hong
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.4
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    • pp.359-364
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    • 2012
  • Real-Time Traversability should be analyzed from the equiped sensors' data in real time for autonomous outdoor navigation. However, it is difficult to find out such traversability that considers the terrain roughness and the vehicle dynamics especially in case of skid type vehicle. The traversability based on real time dynamic analysis was proposed to solve such problem but in navigation with strait driving path. To adapt the method into the navigation with curved driving path, a path following controller should be incorporated into the dynamic model even though it cause the real time problem. In this paper, a dynamic model is proposed to solve the real time problem in the traversability analysis based on real time dynamic simualtion. The dynamic model contains the control dummy which is connected to the vehicle body with a universal joint to follow the curved path without controller. Simulation and experimental results on 6×6 articulated unmanned ground vehicle demonstrate the method's effectiveness and applicability into the traversability analysis on terrain with bumps.

3D Terrain Rendering using Contour Line Data (등고선 데이터를 이용한 3차원 지형 렌더링)

  • 김성수;김경호;이종훈;양영규
    • Proceedings of the Korean Information Science Society Conference
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    • 2001.04b
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    • pp.625-627
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    • 2001
  • 기존의 종이지도를 수치지도 처리과정으로 얻어진 등고선(contour line) 데이터는 원격탐사(Remote Sensing)와 지리정보시스템(GIS)의 응용분야에서 주로 사용되어지는 데이터이다. 이러한 등고선은 해당 지역의 DTM(Digital Terrain Model) 데이터 생성을 위해 보간(interpolation)하여 생성하는 데 연구가 집중되어 왔다. 본 논문에서는 DEM(Digital levation Model)으로부터 얻어진 등고선 데이터를 이용하여 사용자에게 3차원으로 가시화 해 줄 수 있는 기법을 소개한다. 등고선 추출을 위한 방법으로는 기존의 소개되어진 Marching Square 알고리즘을 적용하였고, 지역적인 최고점(local minimum)과 최소점(maximum)을 구하기 위해 등고선을 열린 등고선(open contour)과 닫힌 등고선(closed contour)으로 분류하게 된다. 지역적 최고, 최소점을 찾기 위한 탐색공간을 줄이기 위해 닫힌 등고선만을 닫힌 등고만을 대상으로 등고선 트리를 생성하였으며, 생성된 트리의 리프노드에 대해서 최고, 최소점에 대한 근사(approximation)를 수행하게 된다. 이렇게 구해진 근사된 장점들과 등고선 데이털 입력으로 하여 제한된 딜로니 삼각분할(Constrained Delaunay Triangulation)을 수행함으로써, 3차원 지형을 재구성할 수 있다. 실험에서 간단한 그리드 샘플데이터와 USGS로 획득한 데이터를 이용하여 속도 측정을 하였다. 결과적으로 저장공간 측면에서 적은 량의 데이터를 가지면서 등고선을 표현할 수 있는 3차원 지형을 랜더링할 수가 있음을 알 수 있다.

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The Generation of Local Terrain Model Using Digital Close-Range Photogrammety (근거리 수치사진측랑을 이용한 국부지형모형의 생성)

  • 이재원;홍순헌;김정희;정공운
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.21 no.2
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    • pp.147-154
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    • 2003
  • The close-range photogrammetry is a surveying technique the acquiring the 3D object from 2D geometric appearance shown in the image. Camera treatment is relatively so simple. Camera position refer to the object can be freely adjusted by locating the exposure station at any site. So it is used effectively on a small area or object for survey. In this study, using the digital camera which has capacity of keeping numerical value by itself and easy carrying, we analyze the positioning error according to various change of photographing condition. Also we try to find a effective method of acquiring basis data for 3D monitoring of high-accuracy in sub-pixel degree thorough digital close-range photogrammetry with bundle adjustment for local terrain model generation.

Flood Simulation of Upriver District Considering an Influence of Backwater

  • Um, Dae Yong;Song, Yong Hyun
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.30 no.6_2
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    • pp.631-642
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    • 2012
  • This study aims to predict inundation and flood-stricken areas more accurately by simulating flood damage caused by reversible flow of rain water in the upper water system through precise 3D terrain model and backwater output. For the upstream of the South Han-River, precise 3D terrain model was established by using aerial LiDAR data and backwater by area was output by applying the storm events of 2002 including the history of flood damage. The 3D flood simulation was also performed by using GIS Tool and for occurrence of related rainfall events, inundation events of the upriver region of water system was analyzed. In addition, the results of flood simulation using backwater were verified by making the inundation damage map for the relevant area and comparing it with flood simulation's results. When comparing with the results of the flood simulation applying uniformly the gauging station's water surface elevation used for the existing flood simulation, it is found that the results of the flood simulation using backwater are close to the actual inundation damage status. Accordingly, the causes of flood occurred in downstream of water system and upstream that has different topographic characteristics could be investigated and applying the simulation with backwater is proved more proper in order to procure accuracy of the flood simulation for the upriver region.

Automatic Building Reconstruction with Satellite Images and Digital Maps

  • Lee, Dong-Cheon;Yom, Jae-Hong;Shin, Sung-Woong;Oh, Jae-Hong;Park, Ki-Surk
    • ETRI Journal
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    • v.33 no.4
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    • pp.537-546
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    • 2011
  • This paper introduces an automated method for building height recovery through the integration of high-resolution satellite images and digital vector maps. A cross-correlation matching method along the vertical line locus on the Ikonos images was deployed to recover building heights. The rational function models composed of rational polynomial coefficients were utilized to create a stereopair of the epipolar resampled Ikonos images. Building footprints from the digital maps were used for locating the vertical guideline along the building edges. The digital terrain model (DTM) was generated from the contour layer in the digital maps. The terrain height derived from the DTM at each foot of the buildings was used as the starting location for image matching. At a preset incremental value of height along the vertical guidelines derived from vertical line loci, an evaluation process that is based on the cross-correlation matching of the images was carried out to test if the top of the building has reached where maximum correlation occurs. The accuracy of the reconstructed buildings was evaluated by the comparison with manually digitized 3D building data derived from aerial photographs.

Wind Farm Design Considering Turbulence Intensity on Complex Terrain (복잡지형에서 난류강도를 고려한 풍력발전단지설계)

  • Park, Mi-Ho;Ko, Kyung-Nam;Huh, Jong-Chul
    • Journal of the Korean Solar Energy Society
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    • v.33 no.6
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    • pp.1-11
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    • 2013
  • The investigation on wind farm design using CFD technique was carried out to reduce turbulence intensity in a wind farm. A potential wind farm in Gasiri of Jeju Island was selected for the design and the commercial S/W of Meteodyn WT was used for applying CFD technique. The initial layout of wind turbines was derived using WindPRO which is mainly used for wind farm design in Korea. Then, the distribution of turbulence intensity on complex terrain was calculated and visible by Meteodyn WT. Based on the distribution, wind turbines were positioned properly. As a result, wind turbines could be deployed at positions with minimum turbulence intensity as well as maximum Annual Energy Production, AEP, using Meteodyn WT. It is necessary to take into account turbulence intensity in wind farm design to avoid wind turbine failure.

A Building Modeling using the Library-based Texture Mapping

  • Song, Jeong-Heon;Cho, Young-Wook;Han, Dong-Yeob;Kim, Yong-Il
    • Proceedings of the KSRS Conference
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    • 2003.11a
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    • pp.744-746
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    • 2003
  • A 3D modeling of urban area can be composed the terrain modeling that can express specific and shape of the terrain and the object modeling such as buildings, trees and facilities which are found in urban areas. Especially in a 3D modeling of building, it is very important to make a unit model by simplifying 3D structure and to take a texture mapping, which can help visualize surface information. In this study, the texture mapping technique, based on library for 3D urban modeling, was used for building modeling. This technique applies the texture map in the form of library which is constructed as building types, and then take mapping to the 3D building frame. For effectively apply, this technique, we classified buildings automatically using LiDAR data and made 3D frame using LiDAR and digital map. To express the realistic building texture, we made the texture library using real building photograph.

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A Study on the Earthwork Calculation Using Photogrammetry (사진측량을 이용한 토공량 결정에 관한 연구)

  • 유복모;유용택;이변직
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.8 no.1
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    • pp.41-50
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    • 1990
  • The purpose of this thesis lies in proving the practicality of photogrammetry and in promoting photogrammetry in earthwork which plays a major role in civil engineering projects. Analysis of accuracy in the determination of ammount of earthework was done by applying interpolation methods in digital terrain model. As a result of analysis of the data acquisition method, in cross-section method produced acceptable accuracy from Simpson's three-eighths rule and prismoidal rule. In results DTM, we have obtained the fact that earthwork calculation accuracy was increased by applying two or more interpolation methods. Therefore, the method by digital terrain model using aerial photograph has proved to be more efficient.

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A Study on Regular Grid Based Real-Time Terrain LOD Algorithm for Enhancing Memory Efficiency (메모리 효율 향상을 위한 고정격자기반 실시간 지형 LOD 알고리즘에 관한 연구)

  • Whangbo Taeg-keun;Yang Young-Kyu;Moon Min-Soo
    • 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.

A Study on the Acceleration Durability Test of In-Wheel Drive Gearbox for Military Special Vehicles (군 특수차량용 인휠 드라이브 기어박스의 가속 내구성시험에 관한 연구)

  • Lee, Y.B.;Lee, G.C.;Lee, J.J.;Lim, S.Y.;Kim, W.J.;Kim, K.M.
    • Journal of Drive and Control
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    • v.19 no.3
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    • pp.32-38
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    • 2022
  • The in-wheel drive gearbox for military special vehicles converts the high-speed & low-torque output generated by the electric servomotor, into low-speed & high-torque mechanical power. As the vehicle is remotely maneuvered in mountainous terrain, wet fields, rough terrain, etc., the gearbox must generate a maximum input speed exceeding 5,000 rpm, a maximum torque of 245 Nm, and MTBF of 9,600 km. The purpose of this study was to analyze the failure mode of the gearbox, to ensure the durability of the in-wheel drive gearbox. Also, the field load test data of the vehicle was analyzed, the acceleration durability test standards were established, the acceleration durability test was conducted, and the durability test results were analyzed as well.