• Title/Summary/Keyword: cliff

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The Excavation and Making Storytelling of Cultural Landforms around Shincheon (stream), Guemho River in Daegu (대구 신천과 금호강 일대의 문화지형 발굴과 스토리텔링 구성)

  • JEON, Young-Gweon
    • Journal of The Geomorphological Association of Korea
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    • v.17 no.3
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    • pp.17-30
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    • 2010

  • This paper aims to excavate and make storytelling of cultural landforms around Shincheon, Geumho river in Daegu and then to build the strategy for making its application. The main results are as follows. 1) There are main cultural landforms such as Yongdubawi(龍頭岩, river cliff), river cliff, rock shelter(岩蔭), sheeting joint landform, river cave, tor, etc. around Shincheon. 2) there are main cultural landforms such as riverine wetland, ferry, point bar, river cliff, Hwadam(畵潭, pool), Donghwacheon(stream), Mutae(無怠), Chimsan(hill), Yeonamsan(hill), Sanghwadae(river cliff), etc. around Geumho river. 3) It is necessary to excavate and restore cultural landforms around Shincheon and Geumho river for protection, Also the valuable cultural landforms should be designated as cultural assets in order to prevent damage. 4) Considering from application of cultural landforms around Shincheon, natural observation site need to be designed for experiencing culture, history and ecological environment. However, in viewpoint of application of cultural landforms around Geumho river, it is much better to plan a few of Geumho river cultural landform trails for self-guided tour.

3D Depth Camera-based Obstacle Detection in the Active Safety System of an Electric Wheelchair (전동휠체어 주행안전을 위한 3차원 깊이카메라 기반 장애물검출)

  • Seo, Joonho;Kim, Chang Won
    • Journal of Institute of Control, Robotics and Systems
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    • v.22 no.7
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    • pp.552-556
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    • 2016

  • Obstacle detection is a key feature in the safe driving control of electric wheelchairs. The suggested obstacle detection algorithm was designed to provide obstacle avoidance direction and detect the existence of cliffs. By means of this information, the wheelchair can determine where to steer and whether to stop or go. A 3D depth camera (Microsoft KINECT) is used to scan the 3D point data of the scene, extract information on obstacles, and produce a steering direction for obstacle avoidance. To be specific, ground detection is applied to extract the obstacle candidates from the scanned data and the candidates are projected onto a 2D map. The 2D map provides discretized information of the extracted obstacles to decide on the avoidance direction (left or right) of the wheelchair. As an additional function, cliff detection is developed. By defining the "cliffband," the ratio of the predefined band area and the detected area within the band area, the cliff detection algorithm can decide if a cliff is in front of the wheelchair. Vehicle tests were carried out by applying the algorithm to the electric wheelchair. Additionally, detailed functions of obstacle detection, such as providing avoidance direction and detecting the existence of cliffs, were demonstrated.

  • https://doi.org/10.5302/J.ICROS.2016.16.0077 인용 PDF KSCI