• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.3
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• pp.307-314
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• 2017

Terrain referenced navigation(TRN) system is an attractive method for obtaining position based on terrain measurements and a terrain map. We focus on TRN systems based on the point mass filter(PMF) which is one of the recursive Bayesian method. In this paper, we propose two kinds of performance index for Bayesian filter. The proposed indices are based on entropy and mutual information from information theory. The first index measures roughness of terrain based on entropy of likelihood. The second index named by information gain, which is the mutual information between priori and posteriori distribution, is a quantity of information gained by updating measurement at each step. The proposed two indices are used to determine whether the solution from TRN is adequate for TRN/INS integration or not, and this scheme gives the performance improvement. Simulation result shows that the proposed indices are meaningful and the proposed algorithm performs better than normal TRN algorithm.

• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.968-970
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• 1995

The Information Diffusion Neural Networks is proposed to regenerate the 3-dimensional terrain elevation data from contour lines. Contours in paper map are an expression of terrain elevation in highly compressed form. A real time regeneration of terrain data for each grid points from the the contour information is required for various applications. In the proposed neural networks, the elevation information on contours is diffused to neighbor units through updating its output toward that of neighbor units. An interpolation of terrain information is achieved from such computation mechanithm. Terrain data regeneration simulation has been done with sampled terrain data on contour lines.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.3
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• pp.327-334
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• 2011

It is necessary that UGV(Unmanned Ground Vehicle) should generate a real-time travesability index map by analyzing raw terrain information to travel autonomously tough terrain which has various slope and roughness values. In this paper, we propose a local path planning method, $MA^*$(Modified $A^*$) algorithm, using DVGM (Directional Velocity Grid Map) for unmanned ground vehicle. We also present a path optimization algorithm and a path smoothing algorithm which regenerate a pre-planned local path by $MA^*$ algorithm into the reasonable local path considering the mobility of UGV. Field test is conducted with UGV in order to verify the performance of local path planning method using DVGM. The local path planned by $MA^*$ is compared with the result of $A^*$ to verify the safety and optimality of proposed algorithm.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.10
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• pp.13-20
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• 2013

Currently, SEAMCAT has been widely used as a tool to evaluate the effects of interference among wireless communication systems. In the previous work, we have incorporated the ITU-R P.526 pathloss model to the existing SEAMCAT in order to support the capability of interference evaluation taking into account any specific terrain characteristics. Along with this, we have implemented a terrain display function based on the Google map. However, the two-dimensional Google map based display is not effective in helping users to figure out some terrain features including the elevation variation in a given region. In order to alleviate this difficulty, we have incorporated the three-dimensional terrain display using the API of the Google earth to the existing SEAMCAT and provided the capability of viewing the positions of the associated communication systems, the variation of the carrier intensity and interference intensity in location, shadow region indication, and line-of-sight analysis and presented an example of interference evaluation.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.26 no.6
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• pp.583-590
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• 2008

In construction work's design process, we must carry out a topographical survey for construction reserved land and to the basis of this, production of profile is indispensable factor for the purpose of every construction work such as road, rail way, canal and etc. From this research, the production of profile about construction reserved land, using topographical information of digital topographical map produced by NGIS project, construct precision 3D terrain model and from this, propose plans for utilizing by producing automatic profile. With the aim of this, extract every layers of main facilities and altitude from digital topographical map and while producing 3D terrain model by using this, we product automatic profile from precision 3D terrain model. And we was carried out to check whether the automatic produced profile's accuracy could be accepted at actual estimation by mutual analysis. It is considered that the result of the research could be suggested as a new techniques concept which can reduce the designing period and expenses and increase the efficiency of affair in the design process for the construction.

• Journal of Korea Game Society
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• v.8 no.1
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• pp.71-77
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• 2008

The geometric structure constructs terrain from height map and non-periodically tiling with Wang tile for the detail description. It will be able to express detail bump using parallax mapping to add decal data together with height data in tile. We solve the problem when the real-time rendering and propose improving of parallax mapping for the terrain.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2004.11a
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• pp.275-279
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• 2004

This study was done to detect the topographic and terrain change of the vicinity of the west coast. To make the basic map of the change in topology and terrain, the mosaic images were made using the images from the satellite, which were given the geometric correction based on the GCP (Ground Control Point) and DEM (Digital Elenation Model) data. The accuracy of the images was examined by .empaling them with CCP through 1:25,000's digital map. After that, among the resultant images of the 1970s and 2000s, those of Sihwa, Hwaong and Ansan, the lands reclaimed by drainage were compared to observe the change in the area. From this study, the accuracy of the images of the west coast from satellite could be acquired and the change of the topology and terrain was detected effectively. From the results, it was known that, in case of the land the topological change was not so big due to the development in the reclaimed land or the bare land. In Sihwa, the size of the land was increased 180 $\textrm{km}^2$ and that of the seashore was decreased 110 km. in Hwaong the size was increased 50 $\textrm{km}^2$ and in Ansan the city space was increased 71 $\textrm{km}^2$ due to the formation of the industrial complex.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.6_3
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• pp.1325-1332
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• 2023

Recently, much research is being conducted based on point cloud data for the growth of innovations such as construction automation in the transportation field and virtual national space. This data is often measured through remote control in terrain that is difficult for humans to access using devices such as UAVs and UGVs. Drones, one of the UAVs, are mainly used to acquire point cloud data, but photogrammetry using a vision camera, which takes a lot of time to create a point cloud map, is difficult to apply in construction sites where the terrain changes periodically and surveying is difficult. In this paper, we developed a point cloud mapping system by adopting non-repetitive scanning LiDAR and attempted to confirm improvements through field application. For accuracy analysis, a point cloud map was created through a 2 minute 40 second flight and about 30 seconds of software post-processing on a terrain measuring 144.5 × 138.8 m. As a result of comparing the actual measured distance for structures with an average of 4 m, an average error of 4.3 cm was recorded, confirming that the performance was within the error range applicable to the field.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.11 no.2
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• pp.17-26
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• 1993

This study aims to develop an effective model of the optimum route determination by using digital terrain model. So in this study I select testing areas and analyse comparing the usual method with the digital terrain model method. And then I present one of the optimum route determination models by analysing an anticipated view and other roads according to the development plan. In usual method, the selected area was analysed by using panoramic terrestrial and aerial photograph. But in this study I represent the present terrain by using digital terrain materials which was acquired by a check form map of the selected area, and predict the route line according to the view points by using basic development plan. As a result of using the digital terrain model method in the optimum route determination with terrestrial photograph, it is possible to explain the terrain in detail when the present conditions terrain is analysed. As we can anticipated many sided road in large scale development plan with digital terrain materials which was used in analysing the present terrain, it is possible to lead to more effective route planning, landers planning and the optimum road determination than the usual method in the basic plan.

• Journal of the Korea Institute of Military Science and Technology
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• v.23 no.4
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• pp.407-416
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• 2020

Recent complex battle field demands Network Centric Warfare(NCW) ability to control various parts into a cohesive unit. In path planning filed, the NCW ability increases complexity of path planning algorithm, and it has to consider a communication coverage map as well as traditional parameters such as minimum radar exposure and survivability. In this paper, pros and cons of various propagation models are summarized, and we suggest a coverage map generation method using a Longley-Rice propagation model. Previous coverage map based on line of sight has significant discontinuities that limits selection of path planning algorithms such as Dijkstra and fast marching only. If there is method to remove discontinuities in the coverage map, optimization based path planning algorithms such as trajectory optimization and Particle Swarm Optimization(PSO) can also be used. In this paper, the Longley-Rice propagation model is used to calculate continuous RF strengths, and convert the strength data using smoothed leaky BER for the coverage map. In addition, we also suggest other types of rough coverage map generation using a lookup table method with simple inputs such as terrain type and antenna heights only. The implemented communication coverage map can be used various path planning algorithms, especially in the optimization based algorithms.