• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.12
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• pp.577-582
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• 2002

The objective of this paper is to produce a weighted graph map for path-planning of an autonomous mobile robot(AMR) based on the measurements from a single ultrasonic sensor, which are acquired when the autonomous mobile robot explores unknown indoor circumstance. The AMR navigates in th unknown space by following the wall and gathers the range data using the ultrasonic sensor, from which the occupancy grid map is constructed by associating the range data with occupancy certainties. Then, the occupancy grid map is converted to a weighted graph map suing morphological image processing and thinning algorithms. the path- planning for autonomous navigation of a mobile robot can be carried out based on the occupancy grid map. These procedures are implemented and tested using an AMR, and primary results are presented in this paper.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.9 no.1
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• pp.102-110
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• 2000

This paper presents an algorithm of local map building for autonomous robot navigation using LASER range finder information. We develop a model of sensor output for a LASER range finder, and obtain an output data of the LASER range finder for a given environment. From the output data, a local map is obtained through the following procedures: (1) filtering of output data to remove noisy and unnecessary data, (2) comparison of filtered data with the original data to restore useful data, (3) thickening of the map obtained from the restored data, and (4) skeletonizing of the thickened map to get a final local map. Through some simulation studies, a map is obtained from the LASER range finder information for a given indoor environment, and is compared with the environment.

• The Journal of Korea Robotics Society
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• v.4 no.1
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• pp.74-80
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• 2009

This paper presents a remote monitoring and simulation system for a building cleaning mobile robot. It provides a tool of convenient 3D graphical map construction including network camera image viewer and status information of the robot. The 3D map is reconstructed from existing 2D building CAD data with DXF format using OpenGL graphic API. Through this system, it is possible to monitor and control the cleaning mobile robot from remote place. A practical experiment is performed to show the reliability and convenience of the monitoring system. The proposed system is expected to give efficient way of control and monitoring to building cleaning mobile robot.

• Journal of Korean Society for Geospatial Information Science
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• v.15 no.4
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• pp.31-39
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• 2007

As the availability of images from airborne digital camera with high resolution is expanded, a lot of concern are shown about the production of orthoimage and digital map. This study presents the method of updating digital map using orthoimage from airborne digital camera image. Images were georectified using GPS surveying data. For the generation of orthoimage, Lidar DEM was used. The absolute positional accuracy of orthoimage was evaluated using GPS surveying data. And that of the building layer of digital map was estimated using the existed digital map at the scale of 1:1,000. The absolute positional accuracy of orthoimage was as followed: RMSE in X and Y were ${\pm}0.076m$ and ${\pm}0.294m$. The RMSE of the building layer were ${\pm}0.250m$ and ${\pm}0.210m$ in X and Y directions, respectively. The RMSE of the digital map using orthoimage from Aerial Digital Camera image fell within allowable error range established by NGII. Consequently, updating digital map using orthoimage from Aerial Digital Camera image can be applied to various fields including the construction of the framework data and the GIS of local government.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.5
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• pp.459-467
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• 2014

The importance of fusion and association using established spatial information has increased gradually with the production and supply of various spatial data by public institutions. The generation of necessary spatial information without field investigation and additional surveying can reduce time, labor, and financial costs. However, the study of the integration of the newly introduced road name address map with the digital map is very insufficient. Even though the use of the road name address map is encouraged for public works related to spatial information, the digital map is still widely used because it is the national basic map. Therefore, in this study, building matching and update were performed to associate the digital map with the road name address map. After geometric calibration using the block-based ICP (Iterative Closest Point) method, multi-scale corresponding pair searching with hierarchical clustering was applied to detect the multi-type match. The accuracy assessment showed that the proposed method is more than 95% accurate and the matched building layer of the two maps is useful for the integrated application and fusion. In addition, the use of the road name address map, which carries the latest and most frequently renewed data, enables cost-effective updating of new buildings.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.900-903
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• 1996

The objective of this paper is to make the weighted graph map for path planning using the ultrasonic sensor measurements that are acquired when an A.M.R (autonomous mobile robot) explores the unknown circumstance. First, The A.M.R navigates on unknown space with wall-following and gathers the sensor data from the environments. After this, we constructs the occupancy grid map by interpreting the gathered sensor data to occupancy probability. For the path planning of roadmap method, the weighted graph map is extracted from the occupancy grid map using morphological image processing and thinning algorithm. This methods is implemented on an A.M.R having a ultrasonic sensor.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1170-1174
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• 2014

This paper suggests using the ICP (Iterative Closet Point) algorithm to compensate a two-dimensional map. ICP algorithm is a typical algorithm method using matching distance data. When building a two-dimensional map, using data through the value of a laser scanner, it occurred warping and distortion of a two-dimensional map because of the difference of distance from the value of the sensor. It uses the ICP algorithm in order to reduce any error of line. It validated the proposed method through experiment involving matching a two-dimensional map based reference data and measured the two-dimensional map.

• The Journal of Korea Robotics Society
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• v.2 no.3
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• pp.227-233
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• 2007

Representing an environment as the probabilistic grids is effective to sense outlines of the environment in the mobile robot area. Outlines of an environment can be expressed factually by using the probabilistic grids especially if sonar sensors would be supposed to build an environment map. However, the difficult problem of a sonar such as a specular reflection phenomenon should be overcome to build a grid map through sonar observations. In this paper, the NRF(Neighborhood Recognition Factor) was developed for building a grid map in which the specular reflection effect is minimized. Also the reproduction rate of the gird map built by using NRF was analyzed with respect to a true map. The experiment was conducted in a home environment to verify the proposed technique.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.330-334
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• 2001

This paper presents the way of building an occupancy grid map which a mobile robot needs to autonomously navigate in the unknown environment. A disparity map resulting from stereo matching can be converted into the 2D distance information. If the stereo matching has some errors, however, the subsequent map becomes unreliable. In this paper, a new morphological filter is proposed to reject 'spikes' of the disparity map due to stereo mismatch by considering the fact that these spikes occur locally. The new method has advantages that it is simpler and more easily realized than existing similar algorithms.

• Spatial Information Research
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• v.22 no.5
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• pp.77-85
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• 2014

As In spite of a close relationship between the land and the building administration, the registration information have been managed separately, because of the different department and the different working area as a national office. To record and manage the exact location of the building within the land we should oblige to submit a status survey results and also register them on the cadastral map. Even now we should make a business cooperation system by building a co-construction of information. The purposes of this study are to suggest ways to improve the legal system for the exact registration of a building on the cadastral map and to look for ways to increase the confidence of building information by reducing the inconvenience of the people through the analysis of a current building administration.