• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.277-278
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• 2012

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.450-456
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• 2006

Monte Carlo localization is known to be one of the most reliable methods for pose estimation of a mobile robot. Although MCL is capable of estimating the robot pose even for a completely unknown initial pose in the known environment, it takes considerable time to give an initial pose estimate because the number of random samples is usually very large especially for a large-scale environment. For practical implementation of MCL, therefore, a reduction in sample size is desirable. This paper presents a novel approach to reducing the number of samples used in the particle filter for efficient implementation of MCL. To this end, the topological information generated through the thinning technique, which is commonly used in image processing, is employed. The global topological map is first created from the given grid map for the environment. The robot then scans the local environment using a laser rangefinder and generates a local topological map. The robot then navigates only on this local topological edge, which is likely to be similar to the one obtained off-line from the given grid map. Random samples are drawn near the topological edge instead of being taken with uniform distribution all over the environment, since the robot traverses along the edge. Experimental results using the proposed method show that the number of samples can be reduced considerably, and the time required for robot pose estimation can also be substantially decreased without adverse effects on the performance of MCL.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.6
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• pp.623-628
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• 2012

Conventional path planning methods have focused on the generation of an optimal shortest path to the goal. However, this optimal path cannot guarantee safe navigation, because it can often lead to a narrow area. Therefore, we propose a Coulomb's law-based safe path planning method that uses an information grid map. The information grid map includes four types of information: occupied, empty, guide, and dangerous areas. A safe path can be generated away from the dangerous area and close to the guide area by repulsive and attractive forces, respectively. Experiments and simulations show that the proposed method can generate paths inside the safe region and is useful for safe navigation.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.16 no.1
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• pp.67-74
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• 1998

This paper performed terrain analysis using DTM(digital terrain model) with TIN/ GRID structure on PC environment. Contour layer from 1:5,000 scale map was used to produce DTM. DTHs were produced with and without considering breakline for each data structure. Processing time, file size, mean elevation and standard variation were analyzed for each DTM. slope map, aspect map were analyzed for grid structure with consideration of TEX>$5\times{5m},\;l0\times{10m},\;15\times{15m},\;l0\times{30m},\;45\times{45m},\;60\times{60m}$ cell size respectively. The results suggest following; The incorporation of breakline does improve mapping accuracy for highly disturbed landscape, Mean elevation doesn't increase as the grid size increases, while processing time, storage room is significantly lessened. Thus, the optimal grid size must be determined in advance for efficient application. slope decreases, while aspect increases as grid size is increasing.

• Water Engineering Research
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• v.2 no.1
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• pp.49-61
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• 2001

A grid-based KIneMatic wave soil-water EROsion and deposition Model(KIMEROM) that predicts temporal variation and spatial distribution of sediment transport in a watershed was developed. This model uses ASCII-formatted map data supported from the regular gridded map of GRASS (U.S. Army CERL, 1993)-GIS(Geographic Information Systems), and generates the distributed results by ASCII-formatted map data. For hydrologic process, the kinematic wave equation and Darcy equation were used to simulated surface and subsurface flow, respectively (Kim, 1998; Kim et al., 1998). For soil erosion process, the physically-based soil erosion concept by Rose and Hairsine (1988) was used to simulate soil-water erosion and deposition. The model adopts single overland flowpath algorithm and simulates surface and subsurface water depth, and sediment concentration at each grid element for a given time increment. The model was tested to a 162.3 $\textrm{km}^2$ watershed located in the tideland reclaimed ares of South Korea. After the hydrologic calibration for two storm events in 1999, the results of sediment transport were presented for the same storm events. The results of temporal variation and spatial distribution of overland flow and sediment areas are shown using GRASS.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.15 no.2
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• pp.207-213
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• 1997

The purpose of this study is to aim at presenting efficient technique of 3-D Terrain Modelling through multilateral approach methods and to compare with raw data, using low-densed randomly located point data. The subject religion of this study are selected two sites and take into consideration for degree of freedom about low-densed randomly located point data. The result of this study by precision analysis of digital cartographic map-ping using low-densed randomly located point data bave shown that . First, making digital cartographic map, the technique of making it using low-desned randomly located point data by TIN-based results to good and fast run-time in A and B sites all together. Second, the visualization analysis results of digital cartographic map using TIN and GRID-based terrain modeling techniqus similar exacts A and B sites, but the terrain modeling techniqus by TIN-based are small data size than GRID-based with the data with the data size of saving with DXF files. Third, making digital catographic map using terrain modeling techniques by Grid-based, the standard errors of low-densed randomly located point data and interpolated data using gridding method have more good results by radial basis function interpolation techniques at A and B sites all together.

• Journal of KIISE
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• v.43 no.9
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• pp.1026-1033
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• 2016

Path-finding on a grid map is a problem generally addressed in the fields of robotics, intelligent agents, and computer games. As technology advances, virtual game worlds tend to be represented more accurately and more realistically, resulting in an excessive increase in the number of grid tiles and in path-search time. In this study, we propose a path-finding algorithm that allows a prompt response to real-time queries by constructing a reduced state space and by precomputing all possible paths in an offline preprocessing stage. In the preprocessing stage, we vertically decompose free space on the grid map, construct a connectivity graph where nodes are the decomposed regions, and store paths between all pairs of nodes in matrix form. In the real-time query stage, we first find the nodes containing the query points and then retrieve the corresponding stored path. The proposed method is simulated for a set of maps that has been used as a benchmark for grid-based path finding. The simulation results show that the state space and the search time decrease significantly.

• Journal of the Korea Society of Computer and Information
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• v.18 no.4
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• pp.27-34
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• 2013

Mobile robot has the exploration function in order to perform its own task. Robot exploration can be used in many applications such as surveillance, rescue and resource detection. The workspace that robots performed in was complicated or quite wide, the multi search using the several mobile robots was mainly used. In this paper, we proposed a scheme that all areas are searched for by using one robot. The method to be proposed extract a area that can be explored in the workspace then the robot investigates the area and updates the map at the same time. The explored area is saved as a hybrid map that combines the nice attributes of the grid and topological maps. The robot can produce the safe navigation route without the obstacles by using hybrid map. The proposed hybrid map uses less memory than a grid map, but it can be used for complete coverage with the same efficiency of a topological map. Experimental results show that the proposed scheme can generate a map of an environment with only 6% of the memory that a grid map requires.

• Journal of Navigation and Port Research
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• v.36 no.10
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• pp.825-832
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• 2012

GPS signal delay that caused by dry gases and water vapor in troposphere is a main error source of GPS point positioning and it must be eliminated for precise point positioning. In this paper, we implemented to generate tropospheric delay grid map over the Korean Peninsula based on post-processing method by using the GPS permanent station network in order to determine the availability of tropospheric delay generation algorithm. GIPSY 5.0 was used for GPS data process and nationwide AWS observation network was used to calculate the amount of dry delay and wet delay separately. As the result of grid map's accuracy analysis, the RMSE between grid map data and GPS site data was 0.7mm in ZHD, 7.6mm in ZWD and 8.5mm in ZTD. After grid map accuracy analysis, we applied the calculated tropospheric delay grid map to single frequency relative positioning algorithm and analyzed the positioning accuracy enhancement. As the result, positioning accuracy was improved up to 36% in case of relative positioning of Suwon(SUWN) and Mokpo(MKPO), that the baseline distance is about 297km.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.16 no.1
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• pp.119-132
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• 1998

For the purpose of producing of grid D.E.M based on National Digital Map accurately and efficiently, We must carefully consider arrangement and numbers of it's elevation information, supplement interpolation method of control point information for maintaining accuracy. According to each combination, each of them has an effect on estimate elevations. This study, after finishing experimental analysis of several grid distance and interpolation methods, aims at presenting the optimal grid distance and interpolation method in the production of grid D.E.M by using of National Digital Map. The results are as follows: First, The result of experimental analysis shows that the method of Kriging is a very excellent interpolation method in the production of grid D.E. M by using National Digital Map. Second, For the purpose of determining grid distance, this study present that twice of the amount of contour interval to make producing grid D.E.M is optimal distance.