• Korean Journal of Remote Sensing
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• v.22 no.3
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• pp.221-228
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• 2006

In this study, an integrated 3D modeling and rendering system dealing with 3D urban landscape features such as terrain, building, road and user-defined geometric ones was designed and implemented using $OPENGL\;{|}\;ES$ (Embedded System) API for mobile devices of PDA. In this system, the authoring functions are composed of several parts handling urban landscape features: vertex-based geometry modeling, editing and manipulating 3D landscape objects, generating geometrically complex type features with attributes for 3D objects, and texture mapping of complex types using image library. It is a kind of feature-based system, linked with 3D geo-based spatial feature attributes. As for the rendering process, some functions are provided: optimizing of integrated multiple 3D landscape objects, and rendering of texture-mapped 3D landscape objects. By the active-synchronized process among desktop system, OPENGL-based 3D visualization system, and mobile system, it is possible to transfer and disseminate 3D feature models through both systems. In this mobile 3D urban processing system, the main graphical user interface and core components is implemented under EVC 4.0 MFC and tested at PDA running on windows mobile and Pocket Pc. It is expected that the mobile 3D geo-spatial information systems supporting registration, modeling, and rendering functions can be effectively utilized for real time 3D urban planning and 3D mobile mapping on the site.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.367-371
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• 2015

In this paper, a novel localization method for a monocular camera is proposed by using a feature-based probabilistic map. The localization of a camera is generally estimated from 3D-to-2D correspondences between a 3D map and an image plane through the PnP algorithm. In the computer vision communities, an accurate 3D map is generated by optimization using a large number of image dataset for camera pose estimation. In robotics communities, a camera pose is estimated by probabilistic approaches with lack of feature. Thus, it needs an extra system because the camera system cannot estimate a full state of the robot pose. Therefore, we propose an accurate localization method for a monocular camera using a probabilistic approach in the case of an insufficient image dataset without any extra system. In our system, features from a probabilistic map are projected into an image plane using linear approximation. By minimizing Mahalanobis distance between the projected features from the probabilistic map and extracted features from a query image, the accurate pose of the monocular camera is estimated from an initial pose obtained by the PnP algorithm. The proposed algorithm is demonstrated through simulations in a 3D space.

• Proceedings of the KSRS Conference
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• v.1
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• pp.413-416
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• 2006

As even small features can be classified as high resolution imagery, urban remote sensing is regarded as one of the important application fields in time of wide use of the commercialized high resolution satellite imageries. In this study, we have analyzed the variogram properties of high resolution imagery, which was obtained in urban area through the simple modeling and applied to the real image. Based on the grasped variogram characteristics, we have tried to decomposed two high-resolution imagery such as IKONOS and QuickBird reducing window size until the unique variogram that urban feature has come out and then been indexed. Modeling results will be used as the fundamental data for variographic analysis in urban area using high resolution imagery later on. Index map also can be used for determining urban complexity or land-use classification, because the index is influenced by the feature size.

• The Journal of Korea Robotics Society
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• v.10 no.1
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• pp.33-41
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• 2015

Recent developments in robotics and intelligent vehicle area, bring interests of people in an autonomous driving ability and advanced driving assistance system. Especially fully automatic parking ability is one of the key issues of intelligent vehicles, and accurate parked vehicles detection is essential for this issue. In previous researches, many types of sensors are used for detecting vehicles, 2D LiDAR is popular since it offers accurate range information without preprocessing. The L shape feature is most popular 2D feature for vehicle detection, however it has an ambiguity on different objects such as building, bushes and this occurs misdetection problem. Therefore we propose the accurate vehicle detection method by using a 3D complete vehicle model in 3D point clouds acquired from front inclined 2D LiDAR. The proposed method is decomposed into two steps: vehicle candidate extraction, vehicle detection. By combination of L shape feature and point clouds segmentation, we extract the objects which are highly related to vehicles and apply 3D model to detect vehicles accurately. The method guarantees high detection performance and gives plentiful information for autonomous parking. To evaluate the method, we use various parking situation in complex urban scene data. Experimental results shows the qualitative and quantitative performance efficiently.

• The Journal of Korea Robotics Society
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• v.11 no.3
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• pp.115-126
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• 2016

This paper suggests the method of the spherical signature description of 3D point clouds taken from the laser range scanner on the ground vehicle. Based on the spherical signature description of each point, the extractor of significant environmental features is learned by the Deep Belief Nets for the urban structure classification. Arbitrary point among the 3D point cloud can represents its signature in its sky surface by using several neighborhood points. The unit spherical surface centered on that point can be considered to accumulate the evidence of each angular tessellation. According to a kind of point area such as wall, ground, tree, car, and so on, the results of spherical signature description look so different each other. These data can be applied into the Deep Belief Nets, which is one of the Deep Neural Networks, for learning the environmental feature extractor. With this learned feature extractor, 3D points can be classified due to its urban structures well. Experimental results prove that the proposed method based on the spherical signature description and the Deep Belief Nets is suitable for the mobile robots in terms of the classification accuracy.

• Korean Journal of Remote Sensing
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• v.23 no.5
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• pp.401-408
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• 2007

Animated anaglyph is the most cost-effective method for 3D stereo visualization of virtual or actual 3D geo-based data model. Unlike 3D anaglyph scene generation using paired epipolar images, the main data sets of this study is the multi-typed 3D feature model containing 3D shaped objects, DEM and satellite imagery. For this purpose, a prototype implementation for 3D animated anaglyph using OpenGL API is carried out, and virtual 3D feature modeling is performed to demonstrate the applicability of this anaglyph approach. Although 3D features are not real objects in this stage, these can be substituted with actual 3D feature model with full texture images along all facades. Currently, it is regarded as the special viewing effect within 3D GIS application domains, because just stereo 3D viewing is a part of lots of GIS functionalities or remote sensing image processing modules. Animated anaglyph process can be linked with real-time manipulation process of 3D feature model and its database attributes in real world problem. As well, this approach of feature-based 3D animated anaglyph scheme is a bridging technology to further image-based 3D animated anaglyph rendering system, portable mobile 3D stereo viewing system or auto-stereo viewing system without glasses for multi-viewers.

• International Journal of High-Rise Buildings
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• v.6 no.2
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• pp.165-175
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• 2017

The importance of designing urban building complexes so that they obtain 'urban' power, rather than become isolated from the surrounding urban context, has been well recognized by both researchers and practitioners. Nevertheless, most current discussions are made from architects' personal experiences and intuition, and lack a quantitative understanding, to which obstacles include an in-depth exploration of the 'urban' power between building complexes and the urban environment. This paper attempts to measure this feature of 'urban', i.e., 'urbanity,' through a new analytical approach derived from the opendata environment. Three measurements that can be easily collected though the Google Maps API and Open Street Map are applied herein to evaluate high or low values of urbanity. Specifically, these are 'metric depth', i.e., the scale of extended public space, 'development density', i.e., density and distribution of point of interests (POIs), and 'type diversity', i.e., diversity of different commercial types. Six cases located in Japan, China and Hong Kong respectively are ranked based on this analytical approach and compared with each other. It shows that Japanese cases, i.e., Osaka Station City and Namba Parks, Osaka, obtained clearly higher values than cases in Shanghai and Hong Kong. On one hand, the insight generated from measuring and explaining 'urban' power would help to assist better implementation of this feature in the design of urban building complexes. On the other hand, this analytical approach can be easily extended to achieve a large-scale measurement and comparison among different urban building complexes, which is also helpful for design practitioners.

• Advances in robotics research
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• v.2 no.1
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• pp.33-44
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• 2018

This paper presents a novel feature detection algorithm called depth-hybrid speeded-up robust features (DH-SURF) augmented by depth information in the speeded-up robust features (SURF) algorithm. In the keypoint detection part of classical SURF, the standard deviation of the Gaussian kernel is varied for its scale-invariance property, resulting in increased computational complexity. We propose a keypoint detection method with less variation of the standard deviation by using depth data from a red-green-blue depth (RGB-D) sensor. Our approach maintains a scale-invariance property while reducing computation time. An RGB-D simultaneous localization and mapping (SLAM) system uses a feature extraction method and depth data concurrently; thus, the system is well-suited for showing the performance of the DH-SURF method. DH-SURF was implemented on a central processing unit (CPU) and a graphics processing unit (GPU), respectively, and was validated through the real-time RGB-D SLAM.

• Proceedings of the Korea Water Resources Association Conference
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• 2005.05b
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• pp.1209-1213
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• 2005

It reflects well feature of slope that is characteristic of city river basin of Pusan local. Process various hydrological datas and basin details datas which is collected through basin basis data. weather satellite equipment(EMS-DEU) and automatic water level equipment(AWS-DEU) and use as basin input data of ILLUDAS model, SWMM model and HEC-HMS model In order to examine outflow feature of experiment basin and then use in reservoir design of experiment basin through calibration and verification about HEC-HMS model. Inserted design rainfall for 30 years that is design criteria of creek into HEC-HMS model and then calculated design floods according to change aspect of the impermeable rate. Capacity of reservoir was determined on the outflow mass curve. Designed imagination reservoir(volume $54,000m^3$) at last outlet upper stream of experiment basin, after designing reservoir. It could be confirmed that the peak flow was reduced resulting from examining outflow aspect. Designing reservoir must decrease outflow of urban areas.

• Journal of the Korean Institute of Rural Architecture
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• v.17 no.1
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• pp.45-54
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• 2015

This study is about the Type classification of architectural assets in Seosungro (one of the 4 Roads of Rampart in Junggu, Daegu), the main stronghold of Urban Regeneration projects according to the recent Urban Regeneration law. The purpose of this study is to suggest the basic data about Operation management method of Original Downtown modern buildings and valuable hanok, and Conservational Regeneration of Architectural property of Urban Environmental Improvement and Architectural assets. By researching, analysing the feature and classifying the type of the buildings in Seosungro, The type classified Conservation plan can be suggested. The Types of the Architectural assets will be the basic data of the application plan of modern buildings which is for the urban regeneration, and this can predict the quantity and the demand of the building for effective urban regeneration, and also can be an effective Urban regeneration policy data.