• 항공우주기술
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• 제11권2호
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• pp.140-148
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• 2012

자율 주행을 위해 주행 지도, 위치 추적 및 목적지까지의 최단 경로 설정 연구가 필요하다. 특히 실내에서는 GPS 신호를 수신 받을 수 없기 때문에 이미지 프로세싱과 같은 방법을 통해 현재 위치를 인식하고 3차원 지도를 생성해야 한다. 본 논문에서는 Depth 카메라인 키넥트를 이용하여 3차원 지도를 생성하고, 일반 카메라로 촬영한 2차원 이미지를 이용하여 3차원 지도에서 현재 위치를 파악하는 방법에 대해 설명한다. 그리고 지도에서 장애물을 확인하고 단순화하는 방법에 대해서도 설명한다.

• 한국정보통신학회논문지
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• 제10권5호
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• pp.928-933
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• 2006

이 논문은 사용자가 2D/3D 공간 데이터를 안전하게 하면서 속성 정보를 공급하는 방식을 활용하여 효과적으로 작동할 수 있는 2D/3D 맵 네비게이션 체계를 구축하는데 목적을 두었다. 이 시스템은 사용자가 검색하는 위치를 2D 또는 3D 방식으로 다양하게 전의 할 수 있도록 지원해 준다. 또한 이 시스템은 고해상도의 조형물 전의가 가능하도록 해줄 뿐만 아니라 기존의 2D/3D에 비해 명칭, 전화 번호, 기타 관련된 정보를 효과적으로 지원해주는 2D/3D 공간 데이터 베이스 기술을 적용하였으며 통합된 2D/3D 공간데이터 베이스 구조를 활용함으로써 다양한 인터페이스의 개발 적용과 더불어 개발 생산성을 향상시켰다.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2000년도 봄 학술발표논문집 Vol.27 No.1 (B)
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• pp.643-645
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• 2000

This paper puts emphasis on navigation in virtual environment, which is one of the major interfaces for the interactivity between human and virtual environment in virtual reality circumstances and worlds. It proposes a new navigation method: 2d Map-Based navigation, which prevents user's spatial lost in 3D Virtual Environment. The 2D Map-Based Navigation is composed of three major processes, Constant Velocity Navigation, Collision Detection and Avoidance, and Path Adjustment. The 2D Map-Based Navigation can reduce user's difficulties and improve user's sense of presence and reality in the virtual environments. The experiment study proved that the 2D Map-Based Navigation is a very natural, straightforward and useful navigation interface in the virtual environment.

• 대한인간공학회지
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• 제23권1호
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• pp.23-38
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• 2004

This study examines different types of navigation aids when a navigator performs target search tasks in Virtual Environments. The factors manipulated in this study include target information (None/Landmark). navigational difficulty (Easy/Difficult). and map types (None/2D Map/3D Map). Navigation performance was measured by using task completion time and the number of target locations that was remembered by the navigator. In addition, user satisfaction on the navigation aids was also measured by using a 7-point Likert's scale. The results showed that the user satisfaction on the landmark was high when the 3D Map was provided. The task completion time shortened when navigational difficulty was set at "easy." The number of remembered target locations was large when there was no landmark. It was also large with an easy navigation task. or a map (20 or 3D) provided. Guidelines for selecting navigation aids were proposed based on the results.

• 로봇학회논문지
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• 제2권3호
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• pp.275-281
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• 2007

This paper presents a motion planning strategy for legged robots using locomotion primitives in the complex 3D environments. First, we define configuration, motion primitives and locomotion primitives for legged robots. A hierarchical motion planning method based on a combination of 2.5 dimensional maps of the 3D workspace is proposed. A global navigation map is obtained using 2.5 dimensional maps such as an obstacle height map, a passage map, and a gradient map of obstacles to distinguish obstacles. A high-level path planner finds a global path from a 2D navigation map. A mid-level planner creates sub-goals that help the legged robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. A local obstacle map that describes the edge or border of the obstacles is used to find the sub-goals along the global path. A low-level planner searches for a feasible sequence of locomotion primitives between sub-goals. We use heuristic algorithm in local motion planner. The proposed planning method is verified by both locomotion and soccer experiments on a small biped robot in a cluttered environment. Experiment results show an improvement in motion stability.

• 한국기계가공학회지
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• 제21권4호
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• pp.114-130
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• 2022

The purpose of this study was to investigate the possibility of increasing the efficiency of disaster relief rescue operations through collaboration among multiple aerial and ground robots. The robots create 2.5D maps, which are merged into a 2.5D map. The 2.5D map can be handled by a low-specification controller of an aerial robot and is suitable for ground robot navigation. For localization of the aerial robot, a six-degree-of-freedom pose recognition method using VIO was applied. To build a 2.5D map, an image conversion technique was employed. In addition, to merge 2.5D maps, an image similarity calculation technique based on the features on a wall was used. Localization and navigation were performed using a ground robot to evaluate the reliability of the 2.5D map. As a result, it was possible to estimate the location with an average and standard error of less than 0.3 m for the place where the 2.5D map was normally built, and there were only four collisions for the obstacle with the smallest volume. Based on the 2.5D map building and map merging system for the aerial robot used in this study, it is expected that disaster response work efficiency can be improved by combining the advantages of heterogeneous robots.

• 한국정보과학회논문지:소프트웨어및응용
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• 제28권4호
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• pp.327-337
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• 2001

이 논문에서 제시된 2D Map-Based Navigation (MBN)은 다중 사용자 환경의 가상공간을 이동할 때, 실세계와 유사한 이동방법을 제공하여 사용자로 하여금 가상공간에 대한 현장감 및 현실감의 제고에 초점을 두었다. MBN은 사용자들이 가상공간에서 발생하기 쉬운 spatial loss를 방지하고, 이동 시 부가적인 입력이 없이도 일정한 속도로 이동을 지원하는 Automatic Constant-velocity Navigation, 이동중 장애물 및 다른 사용자(아바타)와의 충돌현상을 감지 및 회피하는 Collision Detection and Avoidance, 그리고 충돌회피 후 기존 방향으로의 계속된 이동을 지원하는 Path Adjustment 등의 기능을 제공한다. MBN은 spatial loss의 방지, 사용자의 부가적인 노력의 감소 및 병행작업의 보장, 현실과 유사한 사용자 중심의 navigation 기법의 제공, 그리고 가상공간과 현실과의 괴리를 줄임으로써 가상현실이 추구하는 현실감 및 현장감을 높일 수 있도록 하였다. 실험을 통하여 본 연구에서 제안한 MBN이 사용자 중심의 매우 자연스럽소, 쉽고 편리한 가상공간 navigation 인터페이사라는 평가를 얻었다.

• 한국항행학회논문지
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• 제13권1호
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• pp.142-150
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• 2009

컴퓨터 게임에서 사용하는 복잡한 3차원 캐릭터 모델을 단순한 모델로 만드는 것은 매우 중요하다. 제안 방법은 3차원 게임 캐릭터에서 특징선을 추출하여 모델을 단순화 시키는 새로운 방법에 대해 제안한다. 주어진 3차원 캐릭터 모델은 텍스처 정보를 포함하고 있다. 3차원 캐릭터 모델에서의 텍스처 및 곡률의 변동을 이용해서 2차원 맵인 모델특징맵(Model Feature Map)을 생성한다. 모델특징맵은 곡률 맵(curvature map)과 텍스처 맵(texture map)으로부터 생성되며, 본 맵을 통해 에지 추출 기법을 이용하여 특징선을 추출한다. 모델특징맵은 표준 영상처리툴을 이용해 쉽게 편집할 수 있다. 실험을 통하여 본 알고리즘의 효율성을 보여주며, 실험은 얼굴 캐릭터에 한정하지 않는다.

• 로봇학회논문지
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• 제13권2호
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• pp.113-120
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• 2018

To fly a drone or unmanned aerial vechicle(UAV) safely, its pilot needs to maintain high situation awareness of its flight space. One of the important ways to improve the flight space awareness is to integrate both the global and the local navigation map a drone provides. However, the drone pilot often has to use the inconsistent reference frames or perspectives between the two maps. In specific, the global navigation map tends to display space information in the third-person perspective, whereas the local map tends to use the first-person perspective through the drone camera. This inconsistent perspective problem makes the pilot use mental rotation to align the different perspectives. In addition, integrating different dimensionalities (2D vs. 3D) of the two maps may aggravate the pilot's cognitive load of mental rotation. Therefore, this study aims to investigate the relation between perspective difference ($0^{\circ}$, $90^{\circ}$, $180^{\circ}$, $270^{\circ}$) and the map dimensionality matches (3D-3D vs. 3D-2D) to improve the way of integrating the two maps. The results show that the pilot's flight space awareness improves when the perspective differences are smaller and also when the dimensionalities between the two maps are matched.

• 한국생산제조학회지
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• 제20권2호
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• pp.133-138
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• 2011

RFID system can be used to improve object recognition, map building and localization for robot area. A novel method of indoor navigation system for a mobile robot is proposed using RFID technology. The mobile robot With a RFID reader and antenna is able to find what obstacles are located where in circumstance and can build the map similar to indoor circumstance by combining RFID information and distance data obtained from sensors. Using the map obtained, the mobile robot can avoid obstacles and finally reach the desired goal by $A^*$ algorithm. 3D map which has the advantage of robot navigation and manipulation is able to be built using z dimension of products. The proposed robot navigation system is proved to apply for SLAM and path planning in unknown circumstance through numerous experiments.