• 대한전기학회논문지:시스템및제어부문D
• /
• 제49권9호
• /
• pp.538-545
• /
• 2000

In this paper we proposed a new map construction and path planning method for mobile robot. In our proposed method first we introduced triangular representation map that mobile robot can navigate through shorter path and flexible motion instead of grid representation map for mobile robot navigation. method in which robot can navigate complete space through as short path as possible in unknown environment is proposed. Finally we proposed new path planning method in a quadtree representation map. To evaluate the performance of our proposed new path planning method in a quadtree representation map. To evaluate the performance of our proposed triangular representation map it was compared with the existing distance transform path planning method. And we considered complete coverage navigation and new path planning method through several examples.

• 로봇학회논문지
• /
• 제9권2호
• /
• 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.

• 한국정밀공학회지
• /
• 제15권11호
• /
• pp.180-188
• /
• 1998

Z-map is a special form of discrete nonparametric representation in which the height values at grid points on the xy-plane are stored as a 2D array z[i.j]. While z-map is the simplest form of representing sculptured surfaces and it is the most versatile scheme for modeling nonparametric objects, its practical application in industry (eg, tool-path generation) aroused much controversy over its weaknesses ; accuracy, singularity (eg, vertical wall), and some excessive storage needs. Although z-map has such limitations, much research on the application of z-map can be found in various articles. However, research on the systematic analysis of sculptured surface shape representation via z-map model is rather rare. Presented in this paper are the following: shape modeling power of the simple z-map model, exact (within tolerance) B-map representation of sculptured surfaces which have some feature-shapes such as vertical-walls and real sharp-edges by adopting some complementary B-map models, and some application examples.

• International Journal of Precision Engineering and Manufacturing
• /
• 제3권1호
• /
• pp.49-56
• /
• 2002

The Z-map is a special farm of discrete non-parametric representation in which the height values at grid points on the xy-plane are stored as a 2D array z[ij]. While the z-map is the simplest farm of representing sculptured surfaces and is the most versatile scheme for modeling non-parametric objects, its practical application in industry (eg, tool-path generation) has aroused much controversy over its weaknesses, namely its inaccuracy, singularity (eg, vertical wall), and some excessive storage needs. Much research or the application of the z-map can be found in various articles, however, research on the systematic analysis of sculptured surface shape representation via the z-map model is rather rare. Presented in this paper are the following: shape modeling power of the simple z-map model, exact (within tolerance) z-map representation of sculptured surfaces which have some feature-shapes such as vertical-walls and real sharp-edges by adopting some complementary z-map models, and some application examples.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.129.3-129
• /
• 2001

In this paper, a novel navigation method is presented for the cleaning robot in the unknown workspace. In order to do this, we propose a new map representation method and a complete coverage navigation method. First, we discuss a triangular cell map representation which makes the cleaning robot navigate with shorter path and increased flexibility than a rectangular cell map representation. Then we proposed a complete coverage navigation and map construction method which the cleaning robot can navigate the complete workspace although it has perfectly no information about environment. Finally, we evaluate the performance of our proposed triangular cell map comparing to that of the rectangular cell map via the existing ...

• 대한원격탐사학회:학술대회논문집
• /
• 대한원격탐사학회 2003년도 Proceedings of ACRS 2003 ISRS
• /
• pp.914-916
• /
• 2003

Most current 3D digital maps are 2.5 dimension models based on DEM, which can only be recognized, browsed and operated by a special software, far from meeting the needs of a modern digital city (global) with the distributed, isomerous and multiple application on the real 3D representation and open sharing models. In this paper, a new generation digital city oriented 3D digital map is studied. Firstly, a real 3D digital map representation is presented. And then, some key techniques and methods for browser-based 3D digital map’s representation, display and operation are introduced, which can realized the open sharing of 3D map in distributed, isomerous and multiple application environment. Furthermore, the scale driving technique of proposed 3D digital map is also studied. And currently, some developments based on some of the above methods are being carried to provide key and general platform for other application software’s development.

• 대한수학회보
• /
• 제59권5호
• /
• pp.1119-1129
• /
• 2022

We formulate the matrix representation of a composition operator on the Hardy space of the unit disc with the symbol which is a Riemann map of the unit disc, with respect to a special orthonormal basis.

• 건축역사연구
• /
• 제26권3호
• /
• pp.7-18
• /
• 2017

This research focuses on the cadastre and cartographic tradition regarding the representation of Rome that had lasted until the middle of 18th Century. Since the early period of Roman Republic until the early 18th Century, map was considered as a effective medium to record the status of urban facts and also a manifestation of changing perception of reality. These facts allow to diagnose social and conventional changes that had occurred in the field of representation techniques and methodologies derived from diverse intention and objective in elaboration of each map. Cartography also has affinity to architectural drawing as many categories of individuals are involved, clients, researchers, craftsmen, publisher and collectors. Fundamental task of documenting the contemporary physical reality was given to the map, however, as architects had practiced through the drawings, cartographers also reconstruct in subjective way specific buildings and urban aspects according to various needs and demands. As such, philology and imagination play important role as two constitute extreme poles in the evolution of the cadastre. Through analysis of paradigmatic examples in the genealogy of cartography of Rome, it was possible to understand the changing episteme that testify the mentality and custom in the field of visual representation.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제5권1호
• /
• pp.228-246
• /
• 2011

A 3D model based approach for a face representation and recognition algorithm has been investigated as a robust solution for pose and illumination variation. Since a generative 3D face model consists of a large number of vertices, a 3D model based face recognition system is generally inefficient in computation time and complexity. In this paper, we propose a novel 3D face representation algorithm based on a pixel to vertex map (PVM) to optimize the number of vertices. We explore shape and texture coefficient vectors of the 3D model by fitting it to an input face using inverse compositional image alignment (ICIA) to evaluate face recognition performance. Experimental results show that the proposed face representation and recognition algorithm is efficient in computation time while maintaining reasonable accuracy.

• 한국측량학회지
• /
• 제16권2호
• /
• pp.327-335
• /
• 1998

여러 가지의 지도투영법이 사용되고 있지만 지구를 왜곡 없이 평면으로 나타낼 수 있는 방법은 없다. 이러한 투영에 따른 왜곡을 극복하고 좌표계에 의한 지형에 대한 수치정보를 연속적으로 표현하기 위하여 본 논문에서 한반도 지역에 대한 지도 정확성과 투영특성 및 최적의 방법모색, 왜곡오차의 원인, 위치변위 및 정도 향상 등에 대한 것을 연구하였다.