• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.19 no.4
• /
• pp.343-355
• /
• 2001

The choice of map projection method is depend on the desired map purpose because there is no best projection for maps. Previous projection decisions for published paper maps are not necessarily the right decisions for corresponding digital maps. The map grid and index system is simpler than projection system but it can be easily understanded by general users. In this study, through the study for the grid and index systems of the digital and paper map in our and other countries, I suggested the improvement plan on the problems of our digital map. New grid and index system of this paper are presented on behalf of digital geospatial data which as digital topographic map, digital elevation model and other digital maps.

• The Journal of Korea Robotics Society
• /
• v.9 no.2
• /
• pp.104-110
• /
• 2014

Mapping is a fundamental element for robotic services. There are available many types of map data representation such as grid map, metric map, topology map, etc. As more robots are deployed for services, more chances of exchanging map data among the robots emerge and standardization of map data representation (MDR) becomes more valuable. Currently, activities in developing MDR standard are underway in IEEE Robotics and Automation Society. The MDR standard is for a common representation and encoding of the two-dimensional map data used for navigation by mobile robots. The standard focuses on interchange of map data among components and systems, particularly those that may be supplied by different vendors. This paper aims to introduce MDR standard and its application to map merging. We have applied the basic structure of the MDR standard to a grid map and Voronoi graph as a kind of topology map and performed map merging between two different maps. Simulation results show that the proposed MDR is suitable for map data exchange among robots.

• Journal of the Korean association of regional geographers
• /
• v.15 no.1
• /
• pp.16-35
• /
• 2009

This paper is to compare the contexts and old place names in old county maps of Goryeong-hyeon(高靈縣) according to the four types of maps. 23 maps covering Goryeong-hyeon were collected from the old county-map atlas(郡縣地圖帖) and Eupji(邑誌). The first type(named 'picture county map') included 8 county-maps in which information of military, and administrative contents are mainly mapped. The second type(named '1-ri grid system map') included 4 county maps in which information about beacon routes and road systems were regarded as very important. The third type(named '20-ri grid-system map(方眼地圖)' included 4 county-maps which were drawn as same scale with 20-ri(里) grids. The fourth type(named 'local county-map(地方郡縣地圖)' included 5 county maps which were drawn by local mappers. Types of toponyms which were included in maps are different by the propose of map-drawing. In the picture county maps, place names from military, and administrative contents are written. In the 1-ri grid system county maps, place names especially from military and transportation are fluent. In the 20-ri grid system county maps, generic name from natural environment, such as mountains are very fluent. In the local county maps, city-walls and castles are drawn exaggeratively and detailed generic name from warehouses and villages are written in those maps. This study shows that Daedongyeo-jido was drawn on the basis of 20-ri grid system county maps with the supplementation of geographical information.

• Journal of Korea Multimedia Society
• /
• v.15 no.3
• /
• pp.388-397
• /
• 2012

Recently, one of the received attraction fields in web based service is 'Human Relationship Service' that is called SNS. This relationship map service is able to deliver information to user more easily and visually because it is intuitive data that is linked with offline real world. While past map service put physical real information in the map, present map service is evolving into new communicative platform that expresses social relationship beyond simple search platform that shows real world. In this paper, we propose smart social grid system using sketch map that is based on online map service structure. This system has features such as standardized interface provision for various SNS, use to governance hub tool in case of establishing a personal network through expanded social grid, a role of bridge to mashup software linked with other SNS, user environment construction that reproduces social grid data, and the faster service setup by improved search technology.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2022.10a
• /
• pp.59-61
• /
• 2022

Among indoor positioning system techniques using wireless APs, fingerprint techniques collect Mac information and reception strength of APs before performing positioning, build a radio map, and compare it with AP information collected during positioning. However, the existing Radio Map construction method has a problem in that signal interference occurs due to collisions of numerous APs depending on the indoor environment, and the signal strength search result is not always constant. Therefore, this paper compares the existing fixed radio map construction method and the variable radio map construction technique that actively analyzes and constructs the measurement area itself according to signal strength.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.7
• /
• pp.693-699
• /
• 2006

An accurate and compact map is essential to an autonomous mobile robot system. For navigation, it is efficient to use an occupancy grid map because the environment is represented by probability distribution. But it is difficult to apply it to the large environment since it needs a large amount of memory proportional to the environment size. As an alternative, a topological map can be used to represent it in terms of the discrete nodes with edges connecting them. It is usually constructed by the Voronoi-like graphs, but in this paper the topological map is incrementally built based on the local grid map using the thinning algorithm. This algorithm can extract only meaningful topological information by using the C-obstacle concept in real-time and is robust to the environment change, because its underlying local grid map is constructed based on the Bayesian update formula. In this paper, the position probability is defined to evaluate the quantitative reliability of the end nodes of this thinning-based topological map (TTM). The global TTM can be constructed by merging each local TTM by matching the reliable end nodes determined by the position probability. It is shown that the proposed TTM can represent the environment accurately in real-time and it is readily extended to the global TTM.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.16 no.5
• /
• pp.583-589
• /
• 2013

In this paper, we proposed a system that efficiently provides support maps which includes the grid based terrain analysis information. To do this, we use the FDB which is defined as a GIS database that contains features with attributes attached to the features. The FDB is composed of a number of features and feature classes. In order to create support maps, it is necessary to classify feature classes that are associated with each support map and to search them in a grid map. The proposed system use a ontology model to classify semantically feature classes and the quad-tree data structure to find them in a grid map quickly. Therefore, our system is expected to be utilized for global path planning of UGV. In this paper, we show the possibility through an experimental implementation.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.12 no.5
• /
• pp.549-556
• /
• 2009

One of the basic technology for implementing the autonomy of UGV(Unmanned Ground Vehicle) is a path planning algorithm using obstacle and raw terrain information which are gathered from perception sensors such as stereo camera and laser scanner. In this paper, we propose a generation method of DVGM(Directional Velocity Grid Map) which have traverse speed of UGV for the five heading directions except the rear one. The fuzzy system is designed to generate a resonable traveling speed for DVGM from current patch to the next one by using terrain slope, roughness and obstacle information extracted from raw world model data. A simulation is conducted with world model data sampled from real terrain so as to verify the performance of proposed fuzzy inference system.

• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.9
• /
• pp.783-789
• /
• 2001

The purpose of this study is to build and to manage environment models with line segments from the sonar range data on obstacles in unknown and varied environments. The proposed method subsequently employs a two-stage data-transform process in order to extract environmental line segments from the range data on obstacles. In the first stage, the occupancy grid extracted from the range data is accumulated to a two-dimensional local histogram grid. In the second stage, a line histogram extracted from an local histogram gird is based on a Hough transform, and matching is a process of comparing each of the segments in the global line segments map against the line segments to detect similarity in overlap, orientation, and arrangement. Each of these tests is made by comparing one of the parameters in the segment representation. After the tests, new line segments are composed to the global line segments map. The proposed technique is illustrated by experiments in an indoor environment.

• Journal of information and communication convergence engineering
• /
• v.8 no.6
• /
• pp.709-715
• /
• 2010

This paper represents a map building and localization system for mobile robot. Map building and navigation is a complex problem because map integrity cannot be sustained by odometry alone due to errors introduced by wheel slippage, distortion and simple linealized odometry equation. For accurate localization, we propose sensor fusion system using encoder sensor and indoor GPS module as relative sensor and absolute sensor, respectively. To build a map, we developed a sensor based navigation algorithm and grid based map building algorithm based on Embedded Linux O.S. A wall following decision engine like an expert system was proposed for map building navigation. We proved this system's validity through field test.