• Journal of the Korea Society of Computer and Information
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• v.18 no.2
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• pp.117-126
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• 2013

Path planning is an essential problem to make virtual characters navigate in many applications including computer games. In many cases, multiple characters move in a group and qualitative aspects of planned paths are emphasized rather than optimality unlike Robotics. In this paper, we propose a two-level path planning algorithm in which the global path is planned for a single character specified as a leader and then the local path is planned to avoid dynamic obstacles while the group following this path. The space for group movement is achieved in the form of square grid array called a grid window. Member characters are located relatively to the leader within a space and moved. The static environment is reduced to the configuration space of this grid window to generate a roadmap on which a grid window can move. In local path planning, only the leader avoids dynamic obstacles by using an artificial potential field and the rest of members are located relatively to the leader in the grid window, which reduces computational load. Efficient algorithms to implement the proposed planning methods are introduced. The simulation results show that a group can handle with dynamic obstacles effectively while moving along the planned path for a static environment.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.39 no.3
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• pp.141-148
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• 2021

This paper presents a method to detect zebra-crossing using deep learning which combines SegNet and ResNet. For the blind, a safe crossing system is important to know exactly where the zebra-crossings are. Zebra-crossing detection by deep learning can be a good solution to this problem and robotic vision-based assistive technologies sprung up over the past few years, which focused on specific scene objects using monocular detectors. These traditional methods have achieved significant results with relatively long processing times, and enhanced the zebra-crossing perception to a large extent. However, running all detectors jointly incurs a long latency and becomes computationally prohibitive on wearable embedded systems. In this paper, we propose a model for fast and stable segmentation of zebra-crossing from captured images. The model is improved based on a combination of SegNet and ResNet and consists of three steps. First, the input image is subsampled to extract image features and the convolutional neural network of ResNet is modified to make it the new encoder. Second, through the SegNet original up-sampling network, the abstract features are restored to the original image size. Finally, the method classifies all pixels and calculates the accuracy of each pixel. The experimental results prove the efficiency of the modified semantic segmentation algorithm with a relatively high computing speed.

• 한국공간정보시스템학회:학술대회논문집
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• 2004.12a
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• pp.169-181
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• 2004

SK Telecom has already constructed GIMS system as the base common framework of LBS/GIS service system based on OGC(OpenGIS Consortium)'s international standard for the first mobile vector map service in 2002, But as service content appears more complex, renovation has been needed to satisfy multi-purpose, multi-function and maximum efficiency as requirements have been increased. This research is for preparation ion of GML3-based platform to upgrade service from GML2 based GIMS system. And with this, it will be possible for variety of application services to provide location and geographic data easily and freely. In GML 3.0, it has been selected animation, event handling, resource for style mapping, topology specification for 3D and telematics services for mobile LBS multimedia service. And the schema and transfer protocol has been developed and organized to optimize data transfer to MS(Mobile Stat ion) Upgrade to GML 3.0-based GIMS system has provided innovative framework in the view of not only construction but also service which has been implemented and applied to previous research and system. Also GIMS channel interface has been implemented to simplify access to GIMS system, and service component of GIMS internals, WFS and WMS, has gotten enhanded and expanded function.