• Proceedings of the Korean Information Science Society Conference
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• 2002.10c
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• pp.727-729
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• 2002

가시화 그래프(visibility graph, Vgraph)는 로봇의 경로를 계획할 때, 최적의 경로를 구하기 위해 널리 이용되는 지도접근 방식중의 하나이다. 원래 Vgraph는 다각형으로 모델링된 로봇이 다각형 환경의 평면상에서 움직일 때 움직이는 로봇을 점으로 환산한 환경인 형상공간(configuration space, C-공간)에서 정의되었는데 이를 원형 로봇 혹은 일반화 다각형(generalized polygon) 환경으로 확장한 것이 일반화 가시화 그래프(GVgraph)이다. 본 논문에서는 기존의 다각형 환경에서 정의된 Vgraph를 형성하는 알고리즘과 동일한 시간복잡도로 GVgraph를 구현하는 알고리즘을 소개하고 미세 운동계획(fine motion planning)에 응용하는 예를 보여준다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.2
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• pp.401-407
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• 2016

We can consider the following problems for two given points p and q in a simple polygon P. (1) Compute the set of points of P which are visible from both p and q. (2) Compute the set of points of P which are visible from either p or q. They are corresponding to the problems which are to compute the intersection and the union of two visibility polygons. In this paper, we consider algorithms for solving these problems on a reconfigurable mesh(in short, RMESH). The algorithm in [1] can compute the intersection of two general polygons in constant time on an RMESH with size O($n^3$), where n is the total number of vertices of two polygons. In this paper, we construct the planar subdivision graph in constant time on an RMESH with size O($n^2$) using the properties of the visibility polygon for preprocessing. Then we present O($log^2n$) time algorithms for computing the union as well as the intersection of two visibility polygons, which improve the processor-time product from O($n^3$) to O($n^2log^2n$).

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.2
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• pp.369-374
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• 2010

The shortest path between two points inside a simple polygon P is a minimum-length path among all paths connecting them which don't pass by the exterior of P. A linear time algorithm for computing the shortest path in a general simple polygon requires triangulating a polygon as preprocessing. The linear time triangulating is known to very complex to understand and implement it. It is also inefficient in case that the input without very large size is given because its time complexity has a big constant factor. In this paper, we present the customized shortest path algorithm for a segment-visible polygon which is a simple polygon weakly visible from an internal line segment. Our algorithm doesn't require triangulating as preprocessing and consists of simple procedures such as construction of convex hulls, so it is easy to implement and runs very fast in linear time.

• Journal of the Korea Computer Graphics Society
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• v.5 no.2
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• pp.9-23
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• 1999

Visibility preprocessing is a useful method to reduce the complexity of scenes to be processed in real-time, and so enhances the overall rendering performance for interactive visualization of virtual environments. In this paper, we propose an efficient visibility preprocessing method. In the proposed method, we assume that navigatable areas in virtual environments are partitioned into rectangular parallelpiped cells or sub-worlds. To preprocess the visibility of each polygon for a given partitioned cell, we should determine at least the area-to-area visibility. This is inherently a four-dimensional problem. We efficiently express four-dimensional visibility information on two-dimensional spaces and keep it within a ternary tree, which is conceptually similar to a BSP(Binary Space Partitioning) tree, by exploiting the characteristics of conservative visibility. The proposed method is able to efficiently handle more general environments like urban scenes, and remove invisible polygons jointly blocked by multiple occluders. The proposed method requires O(nm) time and O(n+m) space. By selecting a suitable value for m, users can select a suitable level of trade-off between the preprocessing time and the quality of the computational result.

• The KIPS Transactions:PartA
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• v.9A no.4
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• pp.595-602
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• 2002

The watchman routes which an watchman patrols the interior of polygon moving along the route are classified to minimum length or minimum links. The watchman route with minimum links has minimum changes of direction in process. In this paper, we present an algorithm with $O(N^2)$ time for finding the watchman route with minimum links in the weakly visible polygons which have specific property.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.12 no.3
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• pp.63-69
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• 2012

Given art gallery P with n vertices, the maximum (sufficient) number of mobile guards is${\lfloor}n/4{\rfloor}$ for simple polygon and${\lfloor}(3n+4)/16{\rfloor}$ for simple orthogonal polygon. However, there is no polynomial time algorithm for minimum number of mobile guards. This paper suggests polynomial time algorithm for the minimum number of mobile guards. Firstly, we obtain the visibility graph which is connected all edges if two vertices can be visible each other. Secondly, we select vertex u with ${\Delta}(G)$ and v with ${\Delta}(G)$ in $N_G(u)$ and delete visible edges from u,v and incident edges. Thirdly, we select $w_i$ in partial graphs and select edges that is the position of mobile guards. This algorithm applies various art galley problems with simple polygons and orthogonal polygons art gallery. As a results, the running time of proposed algorithm is linear time complexity and can be obtain the minimum number of mobile guards.

• Journal of the Korea Society of Computer and Information
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• v.20 no.1
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• pp.85-92
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• 2015

As computer game maps get more elaborate, path-finding by using $A^*$ algorithm in grid-based game maps becomes bottlenecks of the overall game performance. It is because the search space becomes large as the number of nodes increases with detailed representation in cells. In this paper we propose an efficient pathfinding method in which the computer game maps in a regular grid is converted into the polygon-based representation of the list of vertices and then the visibility information about vertices of polygons can be utilized. The conversion to the polygon-based map does not give any effect to the real-time query process because it is preprocessed offline. The number of visited nodes during search can be reduced dramatically by designing heuristics using visibility information of vertices that make the accuracy of the estimation enhanced. Through simulations, we show that the proposed methods reduce the search space and the search time effectively while maintaining the advantages of the grid-based method.

• Journal of Multimedia Information System
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• v.6 no.1
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• pp.23-30
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• 2019

A communications profile is a system that acquires information from communication links to an ambulance or other vehicle moving on a road and compiles a database based on this information. The equipment (six sets of HDTVs, fish-eye camera, satellite antenna with tracking system, and receiving power from the satellite beacon of the N-star) mounted on the roof of the vehicle, image data were obtained at Yokohama Japan. From these data, the polygon of the building was actually produced and has arranged on the map of the Geographical Survey Institute of a 50 m-mesh. The optical study (relationship between visibility rate and elevation angle) were performed on actual data taken by fish-eye lens, and simulated data by 3D-Map with polygons. There was no big difference. This 3D map system then predicts the communication links that will be available at a given location. For line-of-sight communication, optical analysis allows approximation if the frequency is sufficiently high. For non-line-of-sight communication, previously obtained electric power data can be used as reference information for approximation in certain cases when combined with predicted values calculated based on a 3D map. 3D maps are more effective than 2D maps for landing emergency medical helicopters on public roadways in the event of a disaster. Using advanced imaging technologies, we have produced a semi-automatic creation of a high-precision 3D map at Yokohama Yamashita Park and vicinity and assessed its effectiveness on telecommunications and ambulatory merits.

• Journal of Electrical Engineering and information Science
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• v.3 no.2
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• pp.202-210
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• 1998

This paper is concerned with an efficient generation of stereoscopic views for complex virtual environments by exploiting frame coherence in visibility. The basic idea is to keep visible polygons throughout the rendering process. P-buffer, a buffer of image size, holds the id of the visible polygon for each pixel. This contrasts to the frame buffer and the Z-buffer which hold the color information and the depth information, respectively. For the generation of a consecutive image, the position and the orientation of the visible polygons in the current view are updated according to the viewer's movements, and re-rendered on the current image under the assumption that, when the viewer moves slightly, the visibility of polygons remains unchanged. In the case of stereoscopic views, it may not introduce much difficulty when we render the right(left) image using visible polygons on the (right) image only, The less difference in two images is, the easier the matching becomes in perceiving depth. Some psychophysical experiments have been conducted to support this claim. The computational complexity for generating a fight(left) image from the previous left(right) image is bounded by the size of image space, and accordingly. It is somewhat independent of the complexity of the 3-D scene.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.12
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• pp.1095-1100
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• 2007

Visibility of the satellite navigation is related to a environmental condition of a receiver. Obstacles like buildings and trees in urban areas can block signals and have effects on accuracy and reliability of positioning. This paper presents a method of creating 3D analysis model of urban canyon of Seoul using three-Dimensional digital map. Analysis techniques of visible satellites with Ray-Polygon Collision Detection and validation of algorithm through field tests are discussed. We have compared and analyzed the visibility of GPS and Galileo with respect to separate and simultaneous tracking in view of DOP (Dilution of Precision) using the 3D GIS digital map.