• International Journal of Contents
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• v.9 no.3
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• pp.15-18
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• 2013

In the preceding studies, an analysis of Saga Prefectural sightseeing information by a Self-Organizing Map (SOM) has been tried. And recent development on Information and Communication Technology (ICT) will help us to access any results via the mobile devices easily. This is why the mobile devices, e.g., smartphones and tablet computers, have an operating system installed, and we can improve their functions by downloading any applications on the Web. Then, in order to realize this basic idea, development of an application for the mobile devices is investigated through some computer simulations on the standard desktop PC in this paper. As a result, it is found that i) a developed feature map is useful to identify some candidate topics, ii) a touchscreen is suitable to show the feature map, and iii) arrangement of the feature map can be modified based on our interests. Then, it is concluded that the proposed idea seems to be applicable, even though further consideration is required to brush it up.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.2
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• pp.137-143
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• 2005

Autonomous mobile robot has an ability to navigate using both map in known environment and sensors for detecting obstacles in unknown environment. In general, autonomous mobile robot navigates by global path planning on the basis of already made map and local path planning on the basis of various kinds of sensors to avoid abrupt obstacles. This paper provides a global path planning method using self-organizing feature map which is a method among a number of neural network. The self-organizing feature map uses a randomized small valued initial weight vectors, selects the neuron whose weight vector best matches input as the winning neuron, and trains the weight vectors such that neurons within the activity bubble are move toward the input vector. On the other hand, the modified method in this research uses a predetermined initial weight vectors, gives the systematic input vector whose position best matches obstacles, and trains the weight vectors such that neurons within the activity bubble are move toward the input vector. According to simulation results one can conclude that the modified neural network is useful tool for the global path planning problem of a mobile robot.

• The KIPS Transactions:PartD
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• v.10D no.3
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• pp.359-366
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• 2003

Although the reuse of the cached data for scrolling the map reduces the amount of passed data between client and server, it needs the conversions of data coordinates, selective deletion of objects, cache compaction and object structuring step in the clients. The conversion is a time- intensive operation due to limited resources of mobile phones such as low computing power, small memory. Therefore, in order to control the map efficiently in the vector map service based mobile phones, it is necessary to study the methods which reuse cached objects for reducing wireless network bandwidth and overwhelming the limited resources of mobile phones as well. This paper proposes the methods of reusing pre-received spatial objects for map control in the mobile vector map service system based on client-server architecture. The experiments conducted on the Web GIS systems with real data show that the proposed method is appropriate to map services for mobile phone. We also analyze the advantages and drawbacks between the reuse of cached data and transmission of raw data respectively.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.745-752
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• 2016

We suggest an efficient Simultaneous Localization and 3D Polygon Map Building (SLAM) method with Kinect depth sensor for mobile robots in indoor environments. In this method, Kinect depth data is separated into row planes so that scan line segments are on each row plane. After grouping all scan line segments from all row planes into line groups, a set of 3D Scan polygons are fitted from each line group. A map matching algorithm then figures out pairs of scan polygons and existing map polygons in 3D, and localization is performed to record correct pose of the mobile robot. For 3D map-building, each 3D map polygon is created or updated by merging each matched 3D scan polygon, which considers scan and map edges efficiently. The validity of the proposed 3D SLAM algorithm is revealed via experiments.

• Journal of information and communication convergence engineering
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• v.7 no.3
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• pp.281-285
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• 2009

Mobile robot has various sensors for describing the external world. The ultrasonic sensor widely applied to the most mobile robot to detect the obstacle and environment owing to low cost, its easy to use. However, ultrasonic sensor has major problems: the uncertainty information of sensor, false readings caused by specular reflection, multi path effect, low angular resolution and sensitivity to changes in temperature and humidity. This paper describes a sensor system for map building of mobile robot. It was made of low cost PSD (Position Sensitive Detector) sensor array and high speed RISC MPU. PSD sensor is cost effective and light weighting but its output signal has many noises. We propose heuristic S/W filter to effectively remove these noises. The developed map building sensor system was equipped on a mobile robot and was compared with ultrasonic sensor through field test.

• Journal of Internet Computing and Services
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• v.9 no.3
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• pp.141-158
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• 2008

In this paper, we developed the GML Map Server which visualized the map based on GML as international standard for exchanging the common format map and for interoperability of GIS information. And also, it should transmit effectively GML map into the mobile device by using dynamic map partition and caching. It manages a partition based on the visualization area of a mobile device in order to visualize the map to a mobile device in real time, and transmits the partition area by serializing it for the benefit of transmission. Also, the received partition area is compounded in a mobile device and is visualized by being partitioned again as four visible areas based on the display of a mobile device. Then, the area is managed by applying a caching algorithm in consideration of repetitiveness for a received map for the efficient operation of resources. Also, in order to prevent the delay in transmission time as regards the instance density area of the map, an adaptive map partition mechanism is proposed for maintaining the regularity of transmission time. GML Map Server can trace the position of mobile device with WIPI environment in this paper. The field emulator can be created mobile devices and mobile devices be moved and traced it's position instead of real-world. And we developed POIM(POI Management) for management hierarchically POI information and for the efficiency POI search by using the individual tagging technology with visual interface.

• The KIPS Transactions:PartD
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• v.15D no.5
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• pp.609-620
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• 2008

The service handling the map data in the mobile device including navigation, LBS, Telematics, and etc., becomes various. The size of map data which is stored and managed in the mobile device is growing and reaches in several GB. The conventional navigation system has used the read-only PSF (physical storage format) in order to enhance the performance of system by maximum in the mobile device which has limited resources. So though a little part of the map data is changed the whole data must be updated. In general, it takes several ten minutes to write the 2 GB map data to a flash memory of mobile device. Therefore, we have developed the mobile spatial DBMS (database management system) to solve the problem which is that the partial map data couldn't be updated in the conventional navigation system. And we suggest the policy to guarantee the performance of the navigation system which is implemented using the spatial mobile DBMS and verify this by experiment.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.8 no.1
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• pp.150-157
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• 2004

For the mobile GIS services, it is not acceptable to construct a new map database only for wireless service due to vast cost. But the existing map database cannot be used directly for the services due to narrow wireless bandwidth and shortage of mobile device resources. This thesis proposes spatial data simplification methods, thus, the existing map database enable the mobile GIS services. The proposing methods are based on the existing map generalization techniques. We extend it to mobile environments, and implement. This thesis also includes the issue of discriminative data simplification technique according to display level and map display interface suitable for mobile devices. Research results an estimated by experiments.

• Journal of the Semiconductor & Display Technology
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• v.21 no.1
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• pp.136-141
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• 2022

In this paper, we designed, implemented, and verified the SLAM system that can be used on mobile devices. Mobile SLAM is composed of a stand-alone type that directly performs SLAM operation on a mobile device, and a mapping server type that additionally configures a mapping server based on FastAPI to perform SLAM operation on the server and transmits data for map visualization to a mobile device. The mobile SLAM system proposed in this paper is to mix the two types in order to make SLAM operation and map generation more efficient. The stand-alone type SLAM system was configured as an Android app by porting the OpenVSLAM library to the Unity engine, and the map generation and performance were evaluated on desktop PCs and mobile devices. The mobile SLAM system in this paper is an open source project, so it is expected to help develop AR contents based on SLAM in a mobile environment.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.42 no.2 s.332
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• pp.39-48
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• 2005

An HMIPv6 provides micro mobility management using MAP for decreasing handover delay and network load in a mobile IP networks. An HMIPv6 uses distance based algorithm for MAP selection when a mobile host enters a new network domain. However, since every mobile hosts select a farthest router as a MAP, a handover delay and packet loss will be increased. A new MAP selection scheme is herein proposed to solve the problems caused by the distance based MAP selection algorithm by using secondary MAP. We executed the performance evaluation by simulation about handover delay and packet loss of an HMIPv6 and our proposed scheme. The simulation results show that the performance of our proposed scheme is better than that of HMIPv6.