• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.189-196
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• 2011

This paper presents a method of topological modeling using only low-cost sonar sensors. The proposed method constructs a topological model by extracting sub-regions from the local grid map. The extracted sub-regions are considered as nodes in the topological model, and the corresponding edges are generated according to the connectivity between two sub-regions. A grid confidence for each occupied grid is evaluated to obtain reliable regions in the local grid map by filtering out noisy data. Moreover, a convexity measure is used to extract sub-regions automatically. Through these processes, the topological model is constructed without predefining the number of sub-regions in advance and the proposed method guarantees the convexity of extracted sub-regions. Unlike previous topological modeling methods which are appropriate to the corridor-like environment, the proposed method can give a reliable topological modeling in a home environment even under the noisy sonar data. The performance of the proposed method is verified by experimental results in a real home environment.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.7
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• pp.36-48
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• 2010

This paper is concerned with stereo vision-based approach to detect obstacles and to generate the path of destination from the start. The hexapod robot in the experiment is cable of walking by legs and driving by wheels simultaneously. The hexapod robot operates under the driving mode normally, and it changes driving mode to walking mode to overcome obstacles using its legs. Disparity map, which is the correlation between two images taken by stereo camera, is employed for calculation of the distance between the robot and obstacles. When the obstacles information is extracted from the disparity map, the potential field algorithm is applied to create the obstacle-avoidance path. Simulator, based on OpenGL, is developed to generate the graphical path, and the experimental results are shown for the verification of the proposed algorithm.

• Journal of Information Processing Systems
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• v.18 no.3
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• pp.332-343
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• 2022

To address the problems of the gravitational search algorithm (GSA) in which the population is prone to converge prematurely and fall into the local solution when solving the single-objective optimization problem, a sine map jumping gravity search algorithm based on asynchronous learning is proposed. First, a learning mechanism is introduced into the GSA. The agents keep learning from the excellent agents of the population while they are evolving, thus maintaining the memory and sharing of evolution information, addressing the algorithm's shortcoming in evolution that particle information depends on the current position information only, improving the diversity of the population, and avoiding premature convergence. Second, the sine function is used to map the change of the particle velocity into the position probability to improve the convergence accuracy. Third, the Levy flight strategy is introduced to prevent particles from falling into the local optimization. Finally, the proposed algorithm and other intelligent algorithms are simulated on 18 benchmark functions. The simulation results show that the proposed algorithm achieved improved the better performance.

• Journal of Broadcast Engineering
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• v.9 no.4 s.25
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• pp.391-401
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• 2004

In this paper, we introduce a novel coding method to efficiently enable spatial random access for high resolution video. In terms of resolution and display size, standard display devices (such as cathode-ray tubes. monitors. PDAs, and LCDs) do not sufficiently support high resolution video such as digital cinema and panoramic video. Currently, users have no choice but to view video at lower resolution as a result of down-sampling, or only a partial region of the video due to display size limitations. Our proposed method. which we call the B-map, represents the set of starting locations of the coded segments in a picture frame. This information, or B-map, is first sent to the decoder prior to the coded data stream of the frame and is then used for fast local decoding. To test our method, we compare our B-map with JPEG tiling and the JPEG Resynchronization marker. Experimental results show that the proposed coding method requires less overhead than existing methods during the same decoding time. The results show promise for future panoramic or digital cinema applications.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.4_1
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• pp.327-333
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• 2014

To improve thermal environments in urban area, the structural characteristic analysis of thermal environments of the certain area should be preceded to analyze and supplement its problems. With Landsat-8, we measured the centrality estimation, the distribution map, and the spatial statistical analysis of Daegu Metropolitan City in January and August, which of data applied in analyzing the structure of thermal environments following to its spatial property. The thermal infrared band of satellite images has been used to analyze the standard normal deviated scores, which extract the centrality, while the cluster map, based upon Local Local Moran's I, has composed for understanding the autocorrelation of local spatial within environment space structure. Understanding the distribution features as well as the pivot center of thermal environments with satellite images provides principle database for updating urban thermal environments' policies and plans; because those are reference materials that should have precedence over for diverse thermal environment policies.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.23 no.3
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• pp.299-304
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• 2019

As community revitalization among local residents is currently emphasized, village regeneration projects and village culture activation projects are being promoted in various ways based on the participation of residents. Community mapping is one of the projects in which the residents of the community propose and improve the problems of the community as subjects. This community mapping draws residents's interest in the village through the process in which residents directly map the major issues in the village and makes it possible to draw the voluntary participation of the residents in deciding village plans and policies. In this study, we used community mapping to develop a safety map application for interactive communication of local residents. The developed app enables local residents to directly upload and share information on local issues and problems. In addition, the purpose is to find ways to share and improve safety related issues and problems of the village with relevant administrative agencies using the developed app.

• Journal of Korea Multimedia Society
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• v.18 no.9
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• pp.1008-1018
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• 2015

In this paper, we propose a method that constructs a saliency map in which important regions are accurately specified and the colors of the regions are less influenced by the similar surrounding colors. Our method utilizes LBP(Local Binary Pattern) histogram information to compare and analyze texture information of surrounding regions in order to reduce the effect of color information. We extract the saliency of stereoscopic images by integrating a 2D saliency map with depth information of stereoscopic images. We then measure the distance between two different sizes of the LBP histograms that are generated from pixels. The distance we measure is texture difference between the surrounding regions. We then assign a saliency value according to the distance in LBP histogram. To evaluate our experimental results, we measure the F-measure compared to ground-truth by thresholding a saliency map at 0.8. The average F-Measure is 0.65 and our experimental results show improved performance in comparison with existing other saliency map extraction methods.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.247-254
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• 2011

This paper presents a method of sonar grid map matching for topological place recognition. The proposed method provides an effective rotation invariant grid map matching method. A template grid map is firstly extracted for reliable grid map matching by filtering noisy data in local grid map. Using the template grid map, the rotation invariant grid map matching is performed by Ring Projection Transformation. The rotation invariant grid map matching selects candidate locations which are regarded as representative point for each node. Then, the topological place recognition is achieved by calculating matching probability based on the candidate location. The matching probability is acquired by using both rotation invariant grid map matching and the matching of distance and angle vectors. The proposed method can provide a successful matching even under rotation changes between grid maps. Moreover, the matching probability gives a reliable result for topological place recognition. The performance of the proposed method is verified by experimental results in a real home environment.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2003.10a
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• pp.49-54
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• 2003

As of date, the cadastral information which is the utility to be computerized have not been identical with local autonomous entities and relational groups each other and updated real-time, therefore the relation group or the academic circles carried out in many researches on a cadastral map matching, but the cadastral maps have not been even occurred the expansion and contraction so that the theory arrangement doesn't seem simple as to a cadastral map matching. As being take such reality into consideration, We have to be based on $\boxDr$construction ministry of the rules for continuous map$\boxUl$ for a continuous cadastral map with using PBLIS data; so the operators use Autodesk Map 5 which added applications and match the neat line by the identical scale, the different scale, the district boundary and the origin according to the judgement myself We have the purpose to minimize the problem as analyzing the accuracy between the parcel coordinates If the matched map and ones of moved map.

• Journal of Platform Technology
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• v.6 no.3
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• pp.3-9
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• 2018

This paper describes the design and trial development of a system that supports continuous hazard mapping by local residents in their daily life. We performed an interview survey to design our system in a model traditional town in Saga Prefecture, Japan. The results show that despite continued efforts, many practical problems remain and residents feel unsafe. Considering these results, we designed and developed a unique information and communication technology-based support system that contributes to community-based disaster prevention and reduction. The continuous resident participation and posting design are the core concept for our community-based approach. Our system continues to support making a hazard map by integrating the community-based hazard information. Local residents register information (disaster types, risk level, photographs, comments, positional information) about locations that could be dangerous in a disaster. In addition, our system enables information sharing through a Web server. We expect that this information sharing will allow local hazard information for each district to be used.