• ETRI Journal
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• 제43권4호
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• pp.594-602
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• 2021

Recently, quantitative and repetitive inspections of the old urban area were conducted because many structures exceed their designed lifetime. The health of a building can be validated from the condition of the outer wall, while the slant angle of the wall widely serves as an indicator of urban regeneration projects. Mostly, the inspector directly measures the inclination of the wall or partially uses 3D point measurements using a static light detection and ranging (LiDAR). These approaches are costly, time-consuming, and only limited space can be measured. Therefore, we propose a mobile mapping system and automatic slant map generation algorithm, configured to capture urban environments online. Additionally, we use the LiDAR-inertial mapping algorithm to construct raw point clouds with gravity information. The proposed method extracts walls from raw point clouds and measures the slant angle of walls accurately. The generated slant angle map is evaluated in indoor and outdoor environments, and the accuracy is compared with real tiltmeter measurements.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2006년도 학술대회 1부
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• pp.355-361
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• 2006

In large scale environments like airport, museum, large warehouse and department store, autonomous mobile robots will play an important role in security and surveillance tasks. Robotic security guards will give the surveyed information of large scale environments and communicate with human operator with that kind of data such as if there is an object or not and a window is open. Both for visualization of information and as human machine interface for remote control, a 3D model can give much more useful information than the typical 2D maps used in many robotic applications today. It is easier to understandable and makes user feel like being in a location of robot so that user could interact with robot more naturally in a remote circumstance and see structures such as windows and doors that cannot be seen in a 2D model. In this paper we present our simple and easy to use method to obtain a 3D textured model. For expression of reality, we need to integrate the 3D models and real scenes. Most of other cases of 3D modeling method consist of two data acquisition devices. One for getting a 3D model and another for obtaining realistic textures. In this case, the former device would be 2D laser range-finder and the latter device would be common camera. Our algorithm consists of building a measurement-based 2D metric map which is acquired by laser range-finder, texture acquisition/stitching and texture-mapping to corresponding 3D model. The algorithm is implemented with laser sensor for obtaining 2D/3D metric map and two cameras for gathering texture. Our geometric 3D model consists of planes that model the floor and walls. The geometry of the planes is extracted from the 2D metric map data. Textures for the floor and walls are generated from the images captured by two 1394 cameras which have wide Field of View angle. Image stitching and image cutting process is used to generate textured images for corresponding with a 3D model. The algorithm is applied to 2 cases which are corridor and space that has the four wall like room of building. The generated 3D map model of indoor environment is shown with VRML format and can be viewed in a web browser with a VRML plug-in. The proposed algorithm can be applied to 3D model-based remote surveillance system through WWW.

• 한국산학기술학회논문지
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• 제18권3호
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• pp.56-62
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• 2017

최근 3차원 공간정보에 대한 수요가 증가하면서 국토교통부, 서울시, 다음 카카오 등 여러 지자체 및 관련 업계에서 서비스를 구축하여 제공하고 있다. 이러한 지도 기반의 3차원 공간정보서비스에서 위치정확도는 특정 업무의 활용 가능성을 결정짓는 중요한 요소이다. 기존의 BIM 데이터는 상대좌표값으로 작성되어 절대좌표값을 갖는 GIS 데이터와 연계하는데 어려움이 있었다. 따라서 본 연구는 BIM/GIS 플랫폼 기반 모델링 데이터 구축을 통해 실내외 3차원 공간정보 간의 위치보정 방안을 제시하였다. 이를 위하여 플랫폼 테스트베드 대상을 선정한 후 데이터 구축 프로세스를 총 3단계로 진행하고, 실내공간정보를 다루는 BIM 모델과 실감형 가시화를 위한 정사영상 기반 3차원 텍스처링 모델 간 위치 불일치의 문제점을 파악하여 위치보정 알고리즘을 설계하였다. 단일 건물을 대상으로 상대좌표 기반의 BIM 모델 데이터를 절대좌표 기반의 텍스처링 데이터와 연계하기 위해 절대좌표 변환 알고리즘을 구현하여 건물의 절대위치를 1차 계산하고 BIM/GIS 플랫폼 지도상에서 텍스처링 데이터와 2차 매핑하여 3차원 모델 데이터의 최종 위치를 보정하였다.

• 제어로봇시스템학회논문지
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• 제10권9호
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• pp.785-798
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• 2004

This paper introduces the development of a range sensor based integrated navigation system for a multi-functional indoor service robot, called PSR (Public Service Robot System). The proposed navigation system includes hardware integration for sensors and actuators, the development of crucial navigation algorithms like mapping, localization, and path planning, and planning scheme such as error/fault handling. Major advantages of the proposed system are as follows: 1) A range sensor based generalized navigation system. 2) No need for the modification of environments. 3) Intelligent navigation-related components. 4) Framework supporting the selection of multiple behaviors and error/fault handling schemes. Experimental results are presented in order to show the feasibility of the proposed navigation system. The result of this research has been successfully applied to our three service robots in a variety of task domains including a delivery, a patrol, a guide, and a floor cleaning task.

• International Journal of Control, Automation, and Systems
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• 제6권1호
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• pp.62-75
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• 2008

Vision-based simultaneous localization and map building using a single camera, while compelling in theory, have not until recently been considered extensive in the practical realm of the real world. In this paper, we propose a simple framework for the monocular SLAM of an indoor mobile robot using natural line features. Our focus in this paper is on presenting a novel approach for modeling the landmark before integration in monocular SLAM. We also discuss data association improvement in a particle filter approach by using the feature management scheme. In addition, we take constraints between features in the environment into account for reducing estimated errors and thereby improve performance. Our experimental results demonstrate the feasibility of the proposed SLAM algorithm in real-time.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.174-179
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• 2003

Through the simultaneous localization and map building (SLAM) technique, a robot can create maps about its unknown environment while it continuously localizes its position. Grid maps and feature maps have been widely used for SLAM together with application of probability methods and POMDP (partially observed Markov decision process). But this approach based on grid maps suffers from enormous computational burden. Topological maps, however, have drawn more attention these days because they are compact, provide natural interfaces, and are easily applicable to path planning in comparison with grid maps. Some topological SLAM techniques like GVG (generalized Voronoi diagram) were introduced, but it enables the robot to decide only whether the current position is part of GVG branch or not in the GVG algorithm. In this paper, therefore, to overcome these problems, we present a method for updating a global topological map from the local topological maps. These local topological maps are created through a labeled Voronoi diagram algorithm from the local grid map built based on the sensor information at the current robot position. And the nodes of a local topological map can be utilized as the features of the environment because it is robust in light of visibility problem. The geometric information of the feature is applied to the extended Kalman filter and the SLAM in the indoor environment is accomplished. A series of simulations have been conducted using a two-wheeled mobile robot equipped with a laser scanner. It is shown that the proposed scheme can be applied relatively well.

• 제어로봇시스템학회논문지
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• 제7권9호
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• pp.783-789
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• 2001

본 논문에서는 미지의 환경에서 이동로봇이 주행 중 얻어진 격자 지도(grid map)상의 장애물 정보를 이용하여 직선 성분으로 이동로봇 주변환경을 표현한다. 격자 지도의 장애물 정보는 초음파 센서를 이용하여 얻어지므로 이동로봇과 인접한 장애물 정보만을 얻게 된다 얻어진 격자 정보를 호프변환을 이용하여 직선선분을 구축하고 완성해 간다. 논의된 방법은 실험을 통하여 증명하였다.

• 국제초고층학회논문집
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• 제5권2호
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• pp.87-94
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• 2016

High-rise as a building typology is gaining popularity in Asian mega-cities, due to its advantages in increasing volumetric density with limited land resources. Numerous factors contribute to the formation of high-rise urban form, from economical and institutional, environmental to socio-political. Environmental concerns over the impact of rapid urbanization in developing economies demand new thought on the link between urban environment and urban form. Outdoor and indoor climate, pedestrian comfort, and building energy consumption are all related to and impacted by urban form and building morphology. There are many studies and practices on designing individual "green" high-rise buildings, but far fewer studies on designing high-rise building clusters from the perspective of environmental performance optimization.. This paper focuses on the environmental perspective, and its correlation with the evolution of the high-rise urban form. Previous studies on urban morphology in terms of environmental and energy performance are reviewed. Studies on "parameterizing" urban morphology to estimate its environmental performance are reviewed, and the possible urban design implications of the study are demonstrated in by the author, by way of a microclimate map of the iconic Shanghai Xiao Lujiazui CBD. The study formulates the best-practice design guidelines for creating walkable and comfortable outdoor space in a high-rise urban setting, including proper sizing of street blocks and building footprint, provision of shading, and facilitating urban ventilation.

• 제어로봇시스템학회논문지
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• 제15권4호
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• pp.353-364
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• 2009

In this paper, a SLAM (Simultaneous Localization and Mapping) method using a single camera and planar fiducial markers is proposed. Fiducial markers are planar patterns that are mounted on the ceiling or wall. Each fiducial marker has a unique hi-tonal identification pattern with square outlines. It can be printed on paper to reduce cost or it can be painted using retro-reflective paint in order to make invisible and prevent undesirable visual effects. Existing localization methods using artificial landmarks have the disadvantage that landmark locations must be known a priori. In contrast, the proposed method can build a map and estimate robot location even if landmark locations are not known a priori. Hence, it reduces installation time and setup cost. The proposed method works good even when only one fiducial marker is seen at a scene. We perform computer simulation to evaluate proposed method.

• 한국주거학회:학술대회논문집
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• 한국주거학회 2002년도 추계학술발표대회
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• pp.235-240
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• 2002

The purpose of this study is to find out users' preference of the shares community space(SCS) for the Community Design. For this, it was analyzed the residents' behavior characteristics of the current multi-family housing and the residents' needs of the SCS. This study focused on seeking out the user-oriented design criteria for the planning of the SCS. The survey was carried out with a structured questionnaire including sketch map from Aug. 13, 2001 to Sept. 14, 2001. The subjects were housewives who's living in Haeuondae of Busan, Korea. Total number of 650 questionnaires were collected and analyzed. Especially 439 cases among them were used for analysis of mental map. The SPSS PC＋ was used for the analysis of data. The results of this study are as follows : First, as to the users' behavior for the SCSs, there is a difference in the location of residents' activities by contents of them. And, the range of these locations categorized according to levels of spacial cognition for neighborhoods. Second, as to the analysis of the SCS through a mental maps, it was shown that the residents' pathway and the residents' location are main variables to be considered in the SCS planning. The preferred location of SCS is organized according to the character of the SCS; the one for most residents, is located the surrounding of main enterance or the center of the housing complex, and the one the neighbors living in the same or the near building is located in area of the block of resident buildings. Third, as the results of residents' needs analysis, the SCS has the meaning of community facilities. And there is a difference in the degree of necessity and in the preferred location according to character of the SCS. In detal, for the indoor SCS of a resident building, there is a difference in the preferred location according to the kinds of each SCS. And for the outdoor SCS, it is necessary to divide the planning zone of the SCS into 3 steps(the resident building, the block of resident buildings, and the housing complex).