• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
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• 2006.05a
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• pp.138-145
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• 2006

Recently the extraction of building height information has been investigated using remotely sensed image and digital maps. In this study, based on the digital photogrammetry principle and mono imagery method the building height information can be extracted by using relationship between ground coordinates and image coordinates, To evaluate the result the comparison was done with building height from 1:5000 aerial photo. The experiment shows that extraction of building height could be performed using IKONOS single imagery and digital map and it is proved that the building height could be reconstructed within some extent.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.12 s.177
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• pp.61-69
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• 2005

This paper presents an efficient method of extracting line segments from the occupancy grids in a grid map. The grid map is composed of 2-D grids that have both the occupancy and orientation probabilities using sonar sensors. We evaluate the orientation information of every grid when the occupancy probability of the grid is updated from sonar range data. To find the shape of an object in the map from orientation information, the orientations are clustered into several groups according to their values. The line segments are, then, extracted from the clusters based on Hough transform. Finally, a feature-based map is built with these line segments. The proposed method is illustrated with the results produced by sets of experiments in an indoor environment.

• 한국신재생에너지학회:학술대회논문집
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• 2009.06a
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• pp.532-533
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• 2009

The national wind map of South Korea has been established as a core data to support national strategy building and promotion of wind energy dissemination. The national wind map has been made by numerical wind simulation with the spatial resolution of 1 km horizontal, 10m vertical and temporal resolution of 1 hour interval for 5 years period (2003-2007). Therefore, an application system linked with the national wind map named KIER-WindMap$^{TM}$ is being developed to be used by the government, local government, developers and researchers. We introduce the current status of the application system and the future development plans.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.666-669
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• 2000

Localization is the process of aligning the robot's local coordinates with the global coordinates of a map. A mobile robot's location is basically computed by a dead reckoning scheme, but this position information becomes increasingly inaccurate during navigation due to odometry errors. In this paper, the method of building a map of a robot's environment using ultrasonic sensor data and the occupancy grid map scheme is briefly presented. Then, the search and matching algorithms to compensate for the odometry error by comparing the local map with the reference map are proposed and verified by experiments. It is shown that the compensated error is not accumulated and exists within the limited range.

• Archives of design research
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• v.18 no.2 s.60
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• pp.155-164
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• 2005

Home-service robots need to have sufficient spatial information about the surroundings for interacting with human intelligently and performing services efficiently. It is very important to investigate the efficient interaction style that supports map building task through human-robot collaboration. We first analyzed map building task with a cleaning robot and drew 4 design factors and tentative solutions, including map building procedure (task-preferred procedure/space- preferred procedure), LCD display installation (robot/robot+remote control), navigation method (push type/pull type), feedback modality(GUI/GUI+TTS). The design factors and tentative solutions were defined as independent variables and levels. This research investigated how those variables affect to the human task performance and behavior in map building tast. 8 kinds of experiment prototypes were built and usability test among 16 house wives was conducted for acquiring empirical data. As the experiment result, in terms of map building procedure, space-preferred procedure indicated better task performance than task-proffered procedure as we expected. For the LCD display installation factor, remote control with LCD display indicated higher task performance and subjective satisfaction. In robot navigation method, it was very difficult to find a significant difference between push type and pull type which contrary to our expectation. In fact, push type indicated higher subjective satisfaction. Also in feedback modality, we have acquired negative feedback an additional TTS operation guidance. It seems that robot's autonomy before achieving spatial information is rudiment condition which means users are just interacting with a mobile appliance. Thus they prefer remote-control-based interaction style in robot map building process as they used in traditional appliance control.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.10
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• pp.1897-1904
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• 2006

Home service robot must recognize and build map for indoor and components of the house such as furniture and chair etc. The previous researcher has developed a indoor map building system by using CCD camera and ultra sonic sensor. %no stems have some problem in such a way that (1) a distun resolution can be changed according to the number of pixel when we use a CCD camera system, (2) a measured distance can be decreased when it transmitted to the rubber because of being absorbed the sound energy. This paper represents an intelligent sensor controller of module has been developed by using optic PSD(Position Sensitive Detector) sensor any at a low price. To deduce the switching noise from beam power module and diffused reflection noise, we proposed a heuristic soft filter. The performance of the developed system was compared with ultra sonic sensor system by detecting the indoor wall environment. Some experiments were illustrated for the validity of the developed system.

• Journal of architectural history
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• v.17 no.4
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• pp.43-64
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• 2008

Kyeongbokgung succeeded in regaining its status as a royal palace after the reconstruction that began in the second year of King Gojong(1865) only to have most of its buildings taken down in the early 20th century. Fortunately, however, there is the Pukkwoldohyong(Map of North Palace), which drew out each of the buildings of Kyeongbokgung and their arrangement in details in 1907 when the royal palace lost its original appearance. And there is another plot plan of the royal palace at the Korea University Museum, which labeled it Kyeongbokgung-Baechido(Planning Map of Kyeongbokgung Palace). The map presents almost the same plan as Pukkwoldohyong in terms of making and expressive methods, being estimated to have been made in 1888 since its building arrangement doesn't show the changes made after 1890. The map also offers more information about the uses of each building than Pukkwoldohyong and matches the excavation results of the relics. Kyeongbokgung-Jeondo(Map of Kyeongbokgung Palace), which is recorded to be made during the reconstruction of the palace in the early years of King Gojong in historical materials, describes the shapes and arrangements of the buildings in a concrete and realistic fashion. The Kyeongbokgung-Baechido seems to be one of the plans made in the process of restoring and repairing buildings that were lost or destroyed in fire. The Kyeongbokgung-Baschido has the following historic values; 1) it provides dues to estimate the early state of the palace after the reconstruction during the reign of King Gojong. In fact the Sujeongjeon and Heungbokjeon show the early state of the reconstruction; 2) it contains data with which to understand the changes to the palace after 1890, around which they added Hamhwadang and Jibokjae; and 3) it offers information about the uses of the palace's buildings from 1885 to 1880 with its descriptions of the building purposes and relationships regarding the life in the palace.

• Journal of the Korean Association of Geographic Information Studies
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• v.9 no.3
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• pp.46-57
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• 2006

The purpose of this study is to develop a GIS-based digital Forest Land-use(FLU) Map Building Process which will be adopted as the map publishment methodology for the official FLU Map notification in 2007. The process is composed of 6 steps, extracting forest lands from Continuous Land Map(CLM), extracting forest land borders restricted by other laws, extracting boundaries between semi- and reserve forest lands, making digital FLU map by integrating spatial and attribute data among the extractions, printing FLU map and FLU register, and re-correcting zoning errors. Through the process, in 1:25,000 and 1:5,000 scale, 14 and 173 sheets of the FLU Maps and it's register were created for the whole area of Hwaseong, Kyunggi.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1931-1935
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• 2004

A location estimate problem is critical issues for mobile robot. Because it is basic problem in practical use of the mobile robot which do what, or move where, or reach an aim. Already there are many technologies of robot localization (like GPS, vision, sonar sensor, etc) used on development. But the elevation of accurateness was brought the problem that must consider an increase of a hardware cost and addition electric power in each ways. There is the core in question to develop available and accurate sensing algorithm though it is economical. We used a ultrasonic sensor and was going to implement comparatively accurate localization though economical. Using a sensing data, we could make a grid map and estimate a position of a mobile robot. In this paper, to get a satisfactory answer about this problem using a ultrasonic sensor.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.8
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• pp.62-71
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• 2009

In mobile robotics, ultrasonic sensors became one of the most popular devices for collision avoidance and navigation primarily due to data robustness, the easy availability of low-cost systems, their compact size, simple circuits, and their ease in interfacing with computers. However, ultrasonic sonic sensors are subject to noise which results in inaccuracy of mapping and localization of the robot. This paper introduces a new approach to enhance environmental maps based on ultrasonic range data using linear interpolation and Newton interpolation. The simulation and experimental results show that the proposed method improves of the accuracy of the map through better distance estimation between the mobile robot and obstacles.