• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.1105-1107
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• 2003

Remote sensing data processing and analysis system can be developed based on the Grid Coverage Specification and this kind of system is also can be easily interoperate with GIS systems conforming OpenGIS specification. This paper proposes a method to implement easily and quickly the new grid coverages that provide new operations, or services, by reusing the existing grid coverage components, which is based on the fact that the pipeline constructed by grid coverages can be represented in one grid coverage. This method complements easily the deficiency of the existing grid coverage components and enables quick implementation of the new grid coverage that provides complex processing operations.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.70-73
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• 2002

This paper describes the way to embody the grid coverage and the grid coverage processor which can construct pipelines. The pipeline constructed by the developed grid coverages has internal pipelines that have different resolution and it provides the way of access to very large datasets efficiently. Several operations, such as filtering, image enhancement and band operation, are embedded in the developed grid coverage and grid coverage processor COM components. The practical usefulness of the developed grid coverage and grid coverage processor has been proven by applying them in developing an image processing software for very large images.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2003.10a
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• pp.379-384
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• 2003

In this paper, we introduce a change detection system that can extract and analyze change elements from high-resolution satellite imagery as well as low- or middle-resolution satellite imagery. The developed system provides not only 7 pixel-based methods that can be used to detect change from low- or middle-resolution satellite images but also a float window concept that can be used in manual change detection from high-resolution satellite images. This system enables fast process of the very large image, because it is constituted by OGC grid coverage components. Also new change detection algorithms can be easily added into this system if once they are made into grid coverage components.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.1099-1101
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• 2003

Change detection technology, which discovers the change information on the surface of the earth by comparing and analyzing multi-temporal satellite images, can be usefully applied to the various fields, such as environmental inspection, urban planning, forest policy, updating of geographical information and the military usage. In this paper, we introduce a change detection system that can extract and analyze change elements from high-resolution satellite imagery as well as low- or middle-resolution satellite imagery. The developed system provides not only 7 pixelbased methods that can be used to detect change from low- or middle-resolution satellite images but also a float window concept that can be used in manual change detection from highresolution satellite images. This system enables fast access to the very large image, because it is constituted by OGC grid coverage components. Also new change detection algorithms can be easily added into this system if once they are made into grid coverage components.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.10
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• pp.1047-1055
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• 2009

Since nuclear and chemical materials could damage people and disturb battlefield missions in a wide region, nuclear/chemical reconnaissance systems utilizing multiple mobile robots are highly desirable for rapid and safe reconnaissance. In this paper, we design a nuclear/chemical reconnaissance system including mobile robots. Also we propose time-efficient trajectory planning algorithms using grid coverage and contour finding methods for reconnaissance operation. For grid coverage, we performed in analysis on time consumption for various trajectory patterns generated by straight lines and arcs. We proposed BCF (Bounded Contour Finding) and BCFEP (Bounded Contour Finding with Ellipse Prediction) algorithms for contour finding. With these grid coverage and contour finding algorithms, we suggest trajectory planning algorithms for single, two or four mobile robots. Various simulations reveal that the proposed algorithms improve time-efficiency in nuclear/chemical reconnaissance missions in the given area. Also we conduct basic experiments using a commercial mobile robot and verify the time efficiency of the proposed contour finding algorithms.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.7
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• pp.211-217
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• 2019

In an complicated battlefield environment, information from enemy's camp is an important factor in carrying out military operations. For obtaining this information, the number of UAVs that can be deployed to the mission without our forces' loss and at low cost is increasing. Because the mission environment has anti-aircraft weapons, mission space is needed for UAV to guarantee survivability without being killed. The concept of Configuration Space is used to define the mission space considering with range of weapons and detect range of UAV. UAV must visit whole given area to obtain the information and perform Coverage Path Planning for this. Based on threats to UAV and importance of information that will be obtained, area that UAV should visit first is defined. Grid Map is generated and mapping threat information to each grid for UAV path planning. On this study, coverage conditions and path planning procedures are presented based on the threat information on Grid Map, and mission space is expanded to improve detection efficiency. Finally, simulations are performed, and results are presented using the suggested UAV path planning method in this study.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2840-2842
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• 2000

This paper describes sensor-based occupancy grid map construction method through complete coverage navigation algorithm in unknown environment. In this paper, we use the updated Baysian model for probabilistic grid map. For map construction, complete coverage navigation method in which mobile robot can navigate complete field through as short path as possible in unknown environment, is used. The computer simulations result show that map construction method using complete coverage algorithm is efficient.

• Journal of the Korea Society of Computer and Information
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• v.15 no.1
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• pp.61-69
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• 2010

An autonomous robot must have a global workspace map in order to cover the complete workspace. However, most previous coverage algorithms assume that they have a grid workspace map that is to be covered before running the task. For this reason, most coverage algorithms can not be applied to complete coverage tasks in unknown environments. An autonomous robot has to build a workspace map by itself for complete coverage in unknown environments. Thus, we propose a new DmaxCoverage algorithm that allows a robot to carry out a complete coverage task in unknown environments. This algorithm integrates a SLAM algorithm for simultaneous workspace map building. Experimentally, we verify that DmaxCoverage algorithm is more efficient than previous algorithms.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.66-69
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• 2002

This article outlines the capabilities of a viewer component called GridViewer, and proves its reusability. GridViewer was designed for the construction of the image display part of GIS or remote sensing application software, and consequently it is particularly straightforward to closely couple GridViewer with access to very large images. Displaying is performed through pyramid structure, which enables to treat very large dataset up to several gigabytes in size under the limited capability of PC. GridViewer is free from responsibility to handle various formats of raster data files by taking grid coverage, which is designed by OGC to promote interoperability between implementations done by data vendors and software vendors providing analysis and grid processing implementations. GridViewer differs from other such viewer by allowing for clients to extend its function and capability by using small set of methods originally implemented in it. We show its reusability and expandability by applying it in developing application programs performing various functions not supported originally by the GridViewer COM component.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1468-1471
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• 2005

This Paper is to find out a solution for the full-coverage algorithm requiring the real-time processing such as mobile home service robots and vacuum cleaner robots. Previous methods are used by adopting based grid approach method. They used lots of sensors, a high speed CPU, expensive ranger sensors and huge memory. Besides, most full-coverage algorithms should have a map before obstacle avoidance. However, if a robot able to recognize the tangent vector of obstacles, it is able to bring the same result with less sensors and simplified hardware. Therefore, this study suggests a topological based approach and a local obstacle voidance method using a few of PSD sensors and ultra sonic sensors. The simulation results are presented to prove its applicability.