• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.203-210
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• 2009

The problem of outdoor localization can be practically solved by GPS. However, GPS is not perfect and some areas of outdoor navigation should consider other solutions. This research deals with outdoor localization using an elevation map without GPS. This paper proposes a novel feature, elevation moment of inertia (EMOI), which represents the distribution of elevation as a function of distance from a robot in the elevation map. Each cell of an elevation map has its own EMOI, and outdoor localization can be performed by matching EMOIs obtained from the robot and the pre-given elevation map. The experiments and simulations show that the proposed EMOI can be usefully exploited for outdoor localization with an elevation map and this feature can be easily applied to other probabilistic approaches such as Markov localization method.

• Journal of The Geomorphological Association of Korea
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• v.25 no.3
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• pp.105-120
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• 2018

This study estimates possibility and limitation on production of DEM using aerial photo by comparison of DEMs using aerial photo and digital map. Mountain and urban areas show higher elevation in DEM using aerial photo than in DEM using digital map, due to height of vegetation cover and buildings, respectively. However, artificial affects due to bridge, embankment and road construction are responsible for areas with higher elevation in DEM using digital map than in DEM using aerial photo. This difference in elevation between DEMs seems to be caused by rapid change in real elevation that is not reflected in digital map. There is little difference in elevation between DEMs in plain and area with little or no vegetation cover. This study suggests that problems associated with vegetation cover and error by GCP should be fixed, although DEM using aerial photo can quantitatively and 3-dimensionally reconstruct topography with a high resolution.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.9
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• pp.916-921
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• 2011

Mobile robot localization is the task of estimating the robot pose in a given environment. This research deals with outdoor localization based on an elevation map. Since outdoor environments are large and contain many complex objects, it is difficult to robustly estimate the robot pose. This paper proposes a Hausdorff distance-based map matching method. The Hausdorff distance is exploited to measure the similarity between extracted features obtained from the robot and elevation map. The experiments and simulations show that the proposed Hausdorff distance-based map matching is useful for robust outdoor localization using an elevation map. Also, it can be easily applied to other probabilistic approaches such as a Markov localization method.

• KIEAE Journal
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• v.8 no.5
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• pp.43-48
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• 2008

This study is about offering quantitatively analytic frame of streetscape, and also about making a way to be standardized and adapt changing landscape. This allows us to manage a form of elevation map after the application to GIS. The form of elevation map is a visible and vertical arrangement method of data recognizable while walking or driving. Applying measurable traits enables us to make a quantitative control over each element of which streetscape consists. After all, it would play a great roll in organizing and maintaining fine streetscape of each city. As the basic ways to make the elevation map, this study proposes the methods of providing quantitative analytic frame of streetscape after applying elevation data, Raster Data and Vector Data, which were investigated on the basis of GIS. In addition, as a simulation for increasing reality, certain streets, where the streetscape is very important, were chosen so that they enable us to utilize quantitatively analytic data of streetscape with analyzing the +degree of opening ratio in the boundary of D/H=2, comparing between wall area and windowpane area, comparing between facade area and sign board area, and calculating both area and ratio which are applied to ecospace.

• Journal of Korean Society for Geospatial Information Science
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• v.1 no.2 s.2
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• pp.83-96
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• 1993

The orthophto map is seen as the form of picture with the uniform reduced scale as the current terrain map. Thus it provides a reasonable feeling of scene and is easy to be interpreted. Furthermore, digital orthophoto is currently used as the basic terrain information data of the Geo-Spatial Information System(GSIS). Therefore, the orhtophoto map has high potential use as a future terrain map. This paper studies the method of producing orthophoto map by using the digital satellite imagery data taken from SPOT satellite of France. The production of orthophoto map requires the process of generating orthophoto imagery with digital elevation model, which process is called digital differential rectification. As the final accuracy of orthophoto map depends on that of digital elevation model, the precise and efficient production method of digital elevation model should be preceded. This study investigated the method of producing digital elevation model directly from SPOT satellite imagery and generated ortho-image by resampling the original SPOT imagery through digital differential rectification. Finally, Simple orthophoto map was made by overlaying the ortho-image and the contour map from digital elevation model.

• The Transactions of the Korea Information Processing Society
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• v.7 no.2
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• pp.558-568
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• 2000

In the paper, we propose the automatic generation method of digital elevation map based on contour map. The proposed method classifies contour data and non-contour data by thinning and labelling process of the contour line and then connects smoothly broken contour line by Bezier curve. Finally, the digital devation map is generated by the interpolation using the height data of the contour line. The proposed method can reduce vest effort, time and expense which is spend to make digital elevation map.

• Journal of information and communication convergence engineering
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• v.7 no.1
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• pp.41-45
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• 2009

In mobile GIS environments, a client needs to receive the isogram data with a topographical map from a server, if the mobile client wants to display map with elevation information. Because the elevation data size is normally quite large, the client will suffer some problems to receive the elevation data from server. The main reason is a resource limitation of the mobile devices. To overcome these problems, this paper proposes new data structures and algorithms. They are designed for efficient transmission of contour data to a client. Because of the contour data are generated as a vector style from elevation information stored at a server, the proposed algorithms are focused to minimize the transmission data volume and time.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.36S no.3
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• pp.68-75
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• 1999

본 논문은 항공영상으로부터 REM( recovered elevation map)를 추출하여 DEM (digital elevation model)과 정합함으로써 비행체의 위치를 추정하는 기법을 제안하였다. 제안한 알고리듬은 연속항공영상을 이용함으로써 보다 넓은 지역에 대한 REM (recovered elevation map)복원이 가능하여 정합확률이 높아진다. 또한 강건한 거리 척도를 사용함으로써 몇 개의 점에서의 매우 큰 오차에 영향을 받지 않은 알고리듬을 제안하였다. 본 논문에선 몇 개의 항공영상을 가지고 컴퓨터 시뮬레이션을 통하여 제안한 알고리듬의 효용성을 보였다.

• Proceedings of the Korean Geotechical Society Conference
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• 1999.10a
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• pp.371-378
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• 1999

A prototype computer program was developed which visualizes various kinds of geotechnical information using 3D object graphics techniques. The program integrates various kinds of geotechnical data such as surface geology map, boreholes data, geophysical data as well as man made subsurface structures. It also reads NGIS DXF map and generates digital elevation model from iso-elevation line layer of the DXF map. All the data are put into a 3D model as 3D objects. The created 3D model can be viewed and analysed in a interactive 3D way.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.292-296
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• 2002

This study has been accomplished as a experimental study for field application of 3D Perspective Image Map creation using Digital Topographical Map and based on the Ortho-Projection Image which is generated from Satellite Overlay Images and the precise Relative Coordinates of longitude, latitude and altitude which is corrected by GCP(Ground Control Point). AS to Contour Lines Map which is created by Coordinate conversion of 1:5,000 Topographical Map, we firstly made Satellite Image Map to substitute for Digital Topographical Map through overlapping the original images on top of each Ortho-Projection Image created and checking the accuracy. In addition to 3D Image Map creation for 3D Terrain analysis of a target district, Slope Gradient Analysis, Aspect Analysis and Terrain Elevation Model generation, multidirectional 3D Image generation by DEM can be carried out through this study. This study is to develop a mapping technology with which we can generate 3D Satellite Images of a target district through the composition of Digital Maps and Facility Blueprint and arbitrarily create 3D Perspective Images of the target district from any view point.