• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2008.04a
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• pp.233-236
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• 2008

Recently, the development and application of unmaned robots are increasing in various fields including surveillance and reconnaissance, planet exploration and disaster relief. Unmaned robots are usually controlled from distance using radio communications but they should be equipped with autonomous travelling function to cope with unexpected terrains and obstacles. This means that unmanned robots should be able to evaluate terrain's characteristics quantitatively using mounted sensors so as to traverse harsh natural terrains autonomously. For this purpose, this paper presents an algorithm for extracting terrain information from elevation maps as an early step of traversability analysis. Slope and roughness information are extracted from a world terrain map based on least squares method and fractal theory, respectively. The effectiveness of the proposed algorithm is verified on both fractal and real terrain maps.

• Journal of Korea Game Society
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• v.14 no.4
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• pp.45-52
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• 2014

We cannot load the entire data for high-resolution terrain model to the GPU memory since its size is too big. Out-of-core approaches are commonly used to solve the problem. However, due to limited bandwidth of the secondary storage, it is difficult to render the terrain in real-time. A method that compresses the DEM data with wavelet transform on GPU, and renders the decoded data is suggested. However, it is inefficient since it has to sample the values from textures, convert them to vertices, and generate a mesh periodically. We propose a method to store the approximation coefficients of wavelet compression as vertex attributes and render the terrain by decoding the data on geometric shader. It can reduce the amount of transferring terrain texture since approximation coefficients are given as an attribute of the vertex. Also, it generate meshes without additional upload of terrain texture.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.4
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• pp.516-523
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• 2009

Recently, the applications of unmanned robots are increasing in various fields including surveillance and reconnaissance, planet exploration and disaster relief. To perform their missions with success, the robots should be able to evaluate terrain's characteristics quantitatively and identify traversable regions to progress toward a goal using mounted sensors. Recently, the authors have proposed techniques that extract terrain information and analyze traversability for off-road navigation of an unmanned robot. In this paper, we examine the use of 3D world models(terrain maps) to classify obstacle and safe terrain for increasing the reliability of the proposed techniques. A world model is divided into several patches and each patch is classified as belonging either to an obstacle or a non-obstacle using three types of metrics. The effectiveness of the proposed method is verified on real terrain maps.

• Journal of Electrical Engineering and Technology
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• v.11 no.3
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• pp.733-740
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• 2016

To achieve bipedal walking in real human environments, a bipedal robot should be capable of modifiable walking both on uneven terrain with different heights and on flat terrain. In this paper, a novel walking pattern generator based on a 3-D linear inverted pendulum model (LIPM) is proposed to achieve this objective. By adopting a zero moment point (ZMP) variation scheme in real time, it is possible to change the center-of-mass (COM) position and the velocity of the 3-D LIPM throughout the single support phase. Consequently, the proposed method offers the ability to generate a modifiable pattern for walking on uneven terrain without the necessity for any extra footsteps to adjust the COM motion. In addition, a control strategy for bipedal walking on uneven terrain with unknown height is developed. The torques and ground reaction force are measured through force-sensing resisters (FSRs) on each foot and the foot of the robot is modeled as three virtual spring-damper models for the disturbance compensation. The methods for generating the foot and vertical COM of 3-D LIPM trajectories are proposed to achieve modifiable bipedal walking on uneven terrain without any information regarding the height of the terrain. The effectiveness of the proposed method is confirmed through dynamic simulations.

• Journal of the Korea Society of Computer and Information
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• v.28 no.10
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• pp.103-111
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• 2023

Mountains area, especially walking in open space is important for special active field which is based on mountain terrain. Recent research on pedestrian-path includes elements about pedestrian and various environment by analyzing network, but it is mainly focusing on limited space except for data-poor terrain like a mountain terrain. This paper proposes an architecture to generate walking path considering the slope for mountain terrain open space through virtual network made of mesh. This architecture shows that it reflects real terrain more effective when measuring distance using slope and is possible to generate mountain walking path using open space unlike other existing services, and is verified through the test. The proposed architecture is expected to utilize for pedestrian-path generation way considering mountain terrain open space in case of distress, mountain rescue and tactical training and so on.

• Journal of Korean Society for Geospatial Information Science
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• v.6 no.2 s.12
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• pp.133-141
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• 1998

Terrain modelling is composed of a method using the rectangular grid and another using the triangulated irregular network. The method using the triangulated irregular network is most widely used because it can express the characteristics of the terrain well with only a small amount of information on the terrain and also reduces the rendering time. The process of extracting the surface-specific point and a triangular process is needed to construct such triangulated irregular network. This paper concentrates on the process of extracting the surface-specific point. The 8-direction neighborhood method and other transformed methods of the former method are frequently used to extract the surface-specific point. Another method which eliminates the unnecessary points using the Polygon reduction method is also suggested However, the 8-direction neighborhood method has a big fault of also drawing out some unnecessary points. To resolve such problem, we suggest a method of extracting the surface-specific point using the cross section of the terrain. This method reduces the time to extract the surface-specific point and enables a more precise extraction with less terrain information.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.6
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• pp.26-34
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• 2008

The information of traversability and path planning is essential for UGV(Unmanned Ground Vehicle) navigation. Such information can be obtained by analyzing 3D terrain. In this paper, we present the method of 3D terrain modeling with color information from a camera, precise distance information from a 2D Laser Range Finder(LRF) and wheel encoder information from mobile robot with less data. And also we present the method of 3B terrain modeling with the information from GPS/IMU and 2D LRF with less data. To fuse the color information from camera and distance information from 2D LRF, we obtain extrinsic parameters between a camera and LRF using planar pattern. We set up such a fused system on a mobile robot and make an experiment on indoor environment. And we make an experiment on outdoor environment to reconstruction 3D terrain with 2D LRF and GPS/IMU(Inertial Measurement Unit). The obtained 3D terrain model is based on points and requires large amount of data. To reduce the amount of data, we use cubic grid-based model instead of point-based model.

• Journal of Korea Game Society
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• v.10 no.6
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• pp.157-168
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• 2010

A terrain is an essential element for constructing a virtual world in which game characters and objects make various interactions with one another. Creating a terrain requires a great deal of time and repetitive editing processes. This paper presents a 3D terrain reconstruction system to create 3D terrain in virtual space based on real terrain data. In this system, it converts the coordinate system of the height maps which are generated from a stereo camera and a laser scanner from global GPS into 3D world using the x and z axis vectors of the global GPS coordinate system. It calculates the movement vectors and the rotation matrices frame by frame. Terrain meshes are dynamically generated and rendered in the virtual areas which are represented in an undirected graph. The rendering meshes are exactly created and updated by correcting terrain data errors. In our experiments, the FPS of the system was regularly checked until the terrain was reconstructed by our system, and the visualization quality of the terrain was reviewed. As a result, our system shows that it has 3 times higher FPS than other terrain management systems with Quadtree for small area, improves 40% than others for large area. The visualization of terrain data maintains the same shape as the contour of real terrain. This system could be used for the terrain system of realtime 3D games to generate terrain on real time, and for the terrain design work of CG Movies.

• Journal of Aerospace System Engineering
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• v.18 no.1
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• pp.88-98
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• 2024

In this paper, an Automatic Terrain Following (ATF) Simulator using Digital Terrain Elevation Data (DTED) was proposed. This ATF Simulator consists of a Flight Simulator, a Radar Simulator, and a Terrain Following Computer (TFC) Simulator. DTED and radar scan data generated with DTED were used as the terrain information necessary for terrain following. The ATF Simulator provides three modes of operation: a passive mode that uses DTED, an active mode that uses radar scan data, and a hybrid mode that uses both. We developed an ATF Simulator that could reduce the cost and time required to develop a terrain following system using the LabVIEW development environment and the MATLAB App Designer development environment. It was verified by confirming that the ATF Simulator met all functional requirements.

• Proceedings of the Korea Information Processing Society Conference
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• 2017.04a
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• pp.30-31
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• 2017

본 연구는 게임을 비롯한 여러 가지 콘텐츠에서 활용하기 위해서 단일 이미지를 이용한 복층 구조의 지형을 제작하는 방법에 대해서 제안한다. 기존의 하이트맵(Heightmap)을 이용하여 복층구조를 제작했을 때의 문제점을 제시하며 어떻게 단일이미지 하이트맵(Heightmap)을 이용하여 복층 구조의 지형을 제작할수 있는지에 대한 방향을 제시한다. 본 논문에서는 단일 이미지의 RGBA값을 이용한 복층 구조 지형 제작 방식에 대한 실험을 통해 제안한 알고리즘을 검증한다.