• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2003.07b
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• pp.1227-1230
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• 2003

In this paper, we propose a pose estimation method using local map acquired from 2d laser range finder information. The proposed method uses extended kalman filter. The state equation is a navigation system equation of Nomad Super Scout II. The measurement equation is a map-based measurement equation using a SICK PLS 101-112 sensor. We describe a map consisting of geometric features such as plane, edge and corner. For pose estimation we scan external environments by laser rage finer. And then these data are fed to kalman filter to estimate robot pose and position. The proposed method enables very fast simultaneous map building and pose estimation.

• Journal of the Institute of Convergence Signal Processing
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• v.11 no.3
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• pp.189-196
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• 2010

In this paper, we proposed the adaptive local sigma filter reducing noises generated by an image sensor. The small noises generated by the image sensor are amplified by increased an analog gain and an exposure time of the image sensor together with information. And the goal of this work was the system design that is reduce the these amplified noises. Edge data are extracted by Flatness Index Map algorithm. We made the threshold adaptively changeable by the luminance average in this algorithm that extracts the edge data not in high luminance, but just low luminance. The Local Sigma Filter performed only about the edge pixel that were extracted by Flatness Index Map algorithm. To verify the performance of the designed filter, we made the Window test program. The hardware was designed with HDL language. We verified the hardware performance of Local Sigma Filter system using FPGA Demonstration board and HD image sensor, $1280{\times}720$ image size and 30 frames per second.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.05a
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• pp.831-832
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• 2012

In this paper, we survey problems and implementation states of electronic disaster map which is made each local self-government as a unit. If many local self-governments establish and service a electronic disaster map, they only provide simple functions and low utilization ratio. We know the these causes and research for improving methods.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.2
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• pp.171-179
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• 2010

A fundamental technology of UGV(Unmanned Ground Vehicle) to perform a given mission with success in various environment is a path planning method which generates a safe and optimal path to the goal. In this paper, we suggest a local path-planning method of UGV based on the binary map using world model data which is gathered from terrain perception sensors. In specially, we present three core algorithms such as shortest path computation algorithm, path optimization algorithm and path smoothing algorithm those are used in the each composition module of LPP component. A simulation is conducted with M&S(Modeling & Simulation) system in order to verify the performance of each core algorithm and the performance of LPP component with scenarios.

• The Journal of Korea Robotics Society
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• v.2 no.3
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• pp.275-281
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• 2007

This paper presents a motion planning strategy for legged robots using locomotion primitives in the complex 3D environments. First, we define configuration, motion primitives and locomotion primitives for legged robots. A hierarchical motion planning method based on a combination of 2.5 dimensional maps of the 3D workspace is proposed. A global navigation map is obtained using 2.5 dimensional maps such as an obstacle height map, a passage map, and a gradient map of obstacles to distinguish obstacles. A high-level path planner finds a global path from a 2D navigation map. A mid-level planner creates sub-goals that help the legged robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. A local obstacle map that describes the edge or border of the obstacles is used to find the sub-goals along the global path. A low-level planner searches for a feasible sequence of locomotion primitives between sub-goals. We use heuristic algorithm in local motion planner. The proposed planning method is verified by both locomotion and soccer experiments on a small biped robot in a cluttered environment. Experiment results show an improvement in motion stability.

• Journal of the Korean association of regional geographers
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• v.15 no.1
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• pp.16-35
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• 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 Environmental Science International
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• v.21 no.3
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• pp.297-303
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• 2012

Slope is the geographic factor reflecting the 3-dimensional features of basin and it can be considered as the important geomorphological factor which governs the morphology of basin and the dynamics of water movement. In this study the approach to the 3-dimensional structures of basin is attempted with statistical analysis of local slope which can be defined and measured in easy and objective manner by means of DEM. As a result local slope is confirmed to be a highly variable spatial factor in basin. And distribution map of local slope based on spatial autocorrelation length in this study would be a useful tool in the further research of hydrology and geomorphology.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.174-179
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• 2003

Through the simultaneous localization and map building (SLAM) technique, a robot can create maps about its unknown environment while it continuously localizes its position. Grid maps and feature maps have been widely used for SLAM together with application of probability methods and POMDP (partially observed Markov decision process). But this approach based on grid maps suffers from enormous computational burden. Topological maps, however, have drawn more attention these days because they are compact, provide natural interfaces, and are easily applicable to path planning in comparison with grid maps. Some topological SLAM techniques like GVG (generalized Voronoi diagram) were introduced, but it enables the robot to decide only whether the current position is part of GVG branch or not in the GVG algorithm. In this paper, therefore, to overcome these problems, we present a method for updating a global topological map from the local topological maps. These local topological maps are created through a labeled Voronoi diagram algorithm from the local grid map built based on the sensor information at the current robot position. And the nodes of a local topological map can be utilized as the features of the environment because it is robust in light of visibility problem. The geometric information of the feature is applied to the extended Kalman filter and the SLAM in the indoor environment is accomplished. A series of simulations have been conducted using a two-wheeled mobile robot equipped with a laser scanner. It is shown that the proposed scheme can be applied relatively well.

• Journal of the Korea Institute of Information Security & Cryptology
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• v.17 no.3
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• pp.91-100
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• 2007

In this paper, We design and propose a protocol for supporting secure and efficient mobility in integrating fast handover and HMIPv6. In the proposed protocol which is AAA-based HMIPv6, if the MN enters the MAP domain for the first time, then it performs an Initial Local Binding Update for authentication. We propose a secure Fast Handover method using the ticket provided by MAP, which includes the secret key for authentication. Also, we analyze and compare security properties of our proposed scheme with those of other scheme using various attack scenario.

• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.577-583
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• 2007

Simultaneous Localization and Mapping (SLAM) is the process of building a map of an unknown environment and simultaneously localizing a robot relative to this map. SLAM is very important for the indoor navigation of a mobile robot and much research has been conducted on this subject. Although feature-based SLAM using an Extended Kalman Filter (EKF) is widely used, it has shortcomings in that the computational complexity grows in proportion to the square of the number of features. This prohibits EKF-SLAM from operating in real time and makes it unfeasible in large environments where many features exist. This paper presents an algorithm which reduces the computational complexity of EKF-SLAM by using topological information (TI) extracted through a thinning process. The global map can be divided into local areas using the nodes of a thinning-based topological map. SLAM is then performed in local instead of global areas. Experimental results for various environments show that the performance and efficiency of the proposed EKF-SLAM/TI scheme are excellent.