• The Journal of Korea Robotics Society
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• v.4 no.4
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• pp.298-304
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• 2009

This paper describes an algorithm that improves 3D reconstruction result using a multi-sensor fusion disparity map. We can project LRF (Laser Range Finder) 3D points onto image pixel coordinatesusing extrinsic calibration matrixes of a camera-LRF (${\Phi}$, ${\Delta}$) and a camera calibration matrix (K). The LRF disparity map can be generated by interpolating projected LRF points. In the stereo reconstruction, we can compensate invalid points caused by repeated pattern and textureless region using the LRF disparity map. The result disparity map of compensation process is the multi-sensor fusion disparity map. We can refine the multi-sensor 3D reconstruction based on stereo vision and LRF using the multi-sensor fusion disparity map. The refinement algorithm of multi-sensor based 3D reconstruction is specified in four subsections dealing with virtual LRF stereo image generation, LRF disparity map generation, multi-sensor fusion disparity map generation, and 3D reconstruction process. It has been tested by synchronized stereo image pair and LRF 3D scan data.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.5
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• pp.549-556
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• 2009

One of the basic technology for implementing the autonomy of UGV(Unmanned Ground Vehicle) is a path planning algorithm using obstacle and raw terrain information which are gathered from perception sensors such as stereo camera and laser scanner. In this paper, we propose a generation method of DVGM(Directional Velocity Grid Map) which have traverse speed of UGV for the five heading directions except the rear one. The fuzzy system is designed to generate a resonable traveling speed for DVGM from current patch to the next one by using terrain slope, roughness and obstacle information extracted from raw world model data. A simulation is conducted with world model data sampled from real terrain so as to verify the performance of proposed fuzzy inference system.

• Journal of Industrial Convergence
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• v.16 no.1
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• pp.35-40
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• 2018

The procedural generation algorithm is an algorithm that automatically generates a content to be used in a game by repeatedly executing a series of rules. As the size of the game increases, the amount of content used in the game increases. Accordingly, artificial intelligence research is actively conducted to automatically generate game contents using game artificial intelligence such as procedural generation. In this paper, we propose an algorithm to create 3D game world using procedural generation. The proposed algorithm generates a two-dimensional contour in which the path is naturally connected using Perlin-Noise whose noise is gradually changed. A three-dimensional Height-Map is created based on the generated two-dimensional contour lines. The generated Height-Map show that the shape of the map is normal and that the player is able to move around all the sections as in the game world created by hand. In the future, we will improve the performance of algorithms and apply them to game.

• International Journal of Control, Automation, and Systems
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• v.4 no.1
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• pp.77-86
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• 2006

A new method in robot path generation is presented using an analysis of the characteristics of multi-robot collision avoidance. The research is based on the concept of the collision map, where the collision between two robots is presented by a collision region and a crossing curve TLVSTC (traveled length versus servo time curve). Analytic collision avoidance is considered by translating the collision region in the collision map. The 4 different translations of collision regions correspond to the 4 parallel movements of the actual original robot path in the real world. This analysis is applied to path modifications where the analysis of collision characteristics is crucial and the resultant path for collision avoidance is generated. Also, the correlations between the translations of the collision region and robot paths are clarified by analyzing the collision/non-collision areas. The influence of the changes of robot velocity is investigated analytically in view of collision avoidance as an example.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2006.04a
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• pp.359-367
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• 2006

A map is defined as model of 3D spatial phenomena of the real world. Because most of the maps are represented on the 2D plane, limited information is provided. In consequence, applications are also limited with 2D maps and map users of various fields require 3D form of map. Without doubt, state-of-the-art information technology such as telematics and ubiquitous is location based system, therefore, role of the 3D mapping is getting more significant. It is obvious that 3D maps provide more visual perception than 2D maps. The main object of this stud)r is focused on generation of 3D digital maps in economical and efficient way using photogrammetrically compiled data. Topographic maps are required updating and revision in a certain period and the period is getting shorter Therefore, development of the map editing system is key issue for maintaining quality and updating of the maps to provide reliable geographic information. Special requirements should be taken account into 3D digital map editing. Therefore. design, configuration and functions of the editing system were explored.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 2001.01a
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• pp.431-434
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• 2001

Knowledge discovery in databases(KDD) is the process for extracting valid, novel, potentially useful and understandable knowledge form real data. There are many academic and industrial activities with new technologies and application areas. Particularly, data mining is the core step in the KDD process, consisting of many algorithms to perform clustering, pattern recognition and rule induction functions. The main goal of these algorithms is prediction and description. Prediction means the assessment of unknown variables. Description is concerned with providing understandable results in a compatible format to human users. We introduce an efficient data mining algorithm considering predictive and descriptive capability. Reasonable pattern is derived from real world data by a revised neural network model and a proposed fuzzy rule extraction technique is applied to obtain understandable knowledge. The proposed neural network model is a hierarchical self-organizing system. The rule base is compatible to decision makers perception because the generated fuzzy rule set reflects the human information process. Results from real world application are analyzed to evaluate the system\`s performance.

• Proceedings of the KSRS Conference
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• 2008.10a
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• pp.14-17
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• 2008

KOMPSAT-2 is the seventh high-resolution satellite in the world that provides both 1m panchromatic images and 4m multispectral images of the GSD. It is expected to be used across many different fields including digital mapping, territorial and environmental monitoring. However, due to the complexity and security concern involved with the use of the MSC, the use of KOMPSAT-2 images are limited in terms of geometric data, such as satellite orbits and detailed mapping information. This study aims to generate the DEM and orthoimage by using the stereo images of KOMPSAT-2 and to explore the applicability of geo-spatial information with KOMPSAT-2. In order to ensure generation of DEMs of optimal accuracy, the RPCs data and a suitable number of GCPs were used. The accuracy of DEM generated in this research compared with DEM generated from 1:5,000 digital map. The mean differences between horizontal position of the orthoimage and the digital map data are found to be ${\pm}$3.1m, which is in the range of ${\pm}$3.5m, within the permitted limit of a 1:5,000 digital map. The results suggest that DEM can be adequately used to produce digital maps under 1:5,000 scale.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2006.04a
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• pp.411-417
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• 2006

As NGIS project has been implemented in 1995 and effectiveness of spatial information increased, Digital maps serve several purpose in administrative, living, and industrial fields. But, Digital maps have many differences with real world information and difficulties in application of managing urban facilities due to high update cost and long generation period. In this study, We suggest methodology to update a building layer of digital map in urban area as regenerating a building layer by detection of changed buildings in the existing digital map anf extraction using LIDAR data and Aerial images, more easier to acquire data and available to guarantee accuracy. Experimental results are expected to applied for constructing 3D urban model in a broad expensive urban area.

• Journal of Korean Society for Geospatial Information Science
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• v.16 no.3
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• pp.79-85
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• 2008

This study aims to derive a practical coordinate transformation method for the existing geographic information database. After analyzing the status and problems of existing 1/1,000 digital base map and GIS application database, the transformation parameters are estimated and the accuracy of the transformation is determined based on the transformed coordinates. We analyzed the accuracy of a transformation using the published national transformation coefficients as well as the estimated local transformation coefficients using national and urban control points in a study area. In addition, the 1/1,000 digital base map from aerial triangulation is compared with respect to the coordinates of urban control points. Based on the comparison, the biases on the national control points which were used at the time of digital map generation was analyzed. Then, the accuracy of transformed coordinates based on the world geodetic system using local transformation coefficients estimated from urban control points are determined. We also analyzed the transformation accuracy of underground infrastructure database using the same transformation method as the case of 1/1,000 digital base map. Through this study, it was found that the estimation of transformation coefficients by Molodensky-Badekas using urban control points was suitable for a local government. Furthermore, it was obvious that the accuracy of a 2-dimensional affine transformation was comparable to that of 7 parameter transformation for a local area. Applying the coordinate transformation and bias correction, we could transform GIS application database which was built by an offset surveying based on digital base map within the transformation accuracy of 10 cm. Therefore, it was judged that there will not be a big problem on the transformation of the GIS DB to the world geodetic system.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.21 no.1
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• pp.81-87
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• 2003

It is very difficult assignment that grasp three-dimensional real life in Web base network environment. But, the recent simulation tools embody third dimension elements within 2 dimensions screen that is limited through third dimension implementation technology. Many GIS tools are offering excellent functions for third dimension data creation. But, research about design of third dimension GIS that use virtual reality technique in Web environment is status that is unprepared. So, in this research embodied third dimension topography map using virtual reality modelling language to produce active third dimension VR map that can supply visual information for direction, visual point that want in World Wide Web without support of expensive Map exclusive use program. And these 3D Web-Map is thought that possibility is enough as next generation map medium.