• Journal of Institute of Control, Robotics and Systems
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• v.17 no.3
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• pp.277-282
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• 2011

This paper describes a sensor fusion-based semantic map building which can improve the capabilities of a mobile robot in various domains including localization, path-planning and mapping. To build a semantic map, various environmental information, such as doors and cliff areas, should be extracted autonomously. Therefore, we propose a method to detect doors, cliff areas and robust visual features using a laser scanner and a vision sensor. The GHT (General Hough Transform) based recognition of door handles and the geometrical features of a door are used to detect doors. To detect the cliff area and robust visual features, the tilting laser scanner and SIFT features are used, respectively. The proposed method was verified by various experiments and showed that the robot could build a semantic map autonomously in various indoor environments.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2015.05a
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• pp.257-258
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• 2015

The amount of damages caused by natural hazards is consistently growing due to the unusual weather and extreme events. At the same time, property damage by natural hazards is rapidly increasing as well. Hence, we need systematic anti-disaster activities and consulting that can react to such a situation. To address these needs, we investigated and analyzed insured claim payouts from natural hazards by administrative area, and calculate the risk index utilizing GIS. According to the index, this map is identifying the areas of greatest natural hazard risk. The ranking of natural disaster vulnerability based on the risk index, and risk grades were divided into five based on the ranking. This map integrates the natural hazard losses to assist in comprehensive and effective loss prevention activities using analysis of regional loss claims from natural hazards. Moreover, this map can be as utilized as loss mitigation and prevention activities to verify the distribution of exposure and hazards.

• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.209-215
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• 2010

This paper presents a graphic user interface system consisting of graphic simulator and remote control system for a building cleaning robot. It provides a tool of convenient 3D graphical map construction for real world. The 3D map is reconstructed from existing 2D building CAD data with DXF format by using OpenGL graphic API. Through this system, graphic display of robot's status information, remote control and cleaning scheduling can be done for a building cleaning robot. This proposed system is expected to give efficient way of graphic simulation and remote monitoring and control system for a building cleaning robot.

• KIEAE Journal
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• v.6 no.2
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• pp.19-26
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• 2006

Recently, building requirements have been saturated and residents are demanding a variety of building exterior materials faced with roofs, walls, windows and doors. On the other hand, when building exterior materials are exposed with ultra violet rays during some periods, these will be influenced deterioration effects like discolorations, exfoliations and cracks and will be needed exchange of materials. In this study, main 17-provinces of Korea were collated climate data and counted the computation results with an assumption formula for calculating ultra violet rays amounts. Lastly, ultra violet rays map of Korea was made by the counted data and was considered tendencies. Accordingly, in the phase of design the designer can select the appropriate exterior materials which have durabilities and resistances of ultra violet rays. So hereafter this study can be a foundation study to sustain building exterior materials with ultra violet rays damages. Below is the summary of Korean ultra violet rays tendency. 1. Ultra violet rays during 1 year is from about $180MJ/m^2$ to about $210MJ/m^2$. 2. Southern province ultra violet rays is higher than northern province. 3. Annually counted rays is higher and higher.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2006.04a
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• pp.369-373
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• 2006

A 3D modeling of urban area can be composed the terrain modeling that can express specific and shape of the terrain and the object modeling such as buildings, trees and facilities which are found in urban areas. Especially in a 3D modeling of building, it is very important to make a unit model by simplifying 3D structure and to take a texture mapping, which can help visualize surface information. In this study, the texture mapping technique, based on library for 3D urban modeling, was used for building modeling. This technique applies the texture map in the form of library which is constructed as building types, and then take mapping to the 3D building frame. For effectively apply, this technique, we classified buildings automatically using LiDAR data and made 3D frame using LiDAR and digital map. To express the realistic building texture, we made the texture library using real building photograph.

• Journal of Korean Society for Geospatial Information Science
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• v.21 no.2
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• pp.35-43
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• 2013

Georeferenced SLI(Street-Level Imagery) services such as Google Streetview, which contain abundant information about the real world, can increase its applicability substantially through conflation with other spatial datasets. For this purpose, we propose a method to improve a correspondence of building region to combine building information more accurately. First, the spatial inconsistency between SLI and vector map is removed by alignment based on road intersections. Then, visible building regions are searched from the spatial inconsistency-removed vector map, and the optimal corresponding building areas are determined in the SLI scene using the visible regions as seed information. The experimental results demonstrated that our method had improved the accuracy of building region correspondence by about 8%. Therefore, our method can be utilized effectively for enhancement of conflation service based on the SLI.

• Journal of Korean Society for Geospatial Information Science
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• v.14 no.2 s.36
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• pp.43-53
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• 2006

As NGIS project has been implemented in 1995 and effectiveness of geospatial information increased, Digital maps serve several purpose in administrative, living, and the variety of industrial fields. But, Digital maps have difficulties in application of managing urban facilities due to many differences with real world information caused by high update cost and long generation period. This paper suggests an update method of building layers of digital map in urban area; first, we verify the filtered building information using digital areal imagery and LiDAR data which is high-accurate and also can be faster and more economical in 3D information acquisition, and finally update building layers by comparing with the existed digital map. Future research will concentrate on automatic removal of the small and the tree regions, discrimination of buildings and vegetation for generating and updating building layers using LiDAR data.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.1
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• pp.64-75
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• 2010

This study introduces a complete feature map building method of sonar sensors for mobile robots. This method enhances the reality of feature maps by extracting even circle features as well as line and point features from sonar data. Edge features are, moreover, generated by combining line features close to circle features extracted around comer sites. The uncertainties of the specular reflection phenomenon and wide beam width of sonar data can be, therefore, reduced through this map building method. The experimental results demonstrate a practical validity of the proposed method in those environments.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2006.04a
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• pp.411-417
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• 2006

As NGIS project has been implemented in 1995 and effectiveness of spatial information increased, Digital maps serve several purpose in administrative, living, and industrial fields. But, Digital maps have many differences with real world information and difficulties in application of managing urban facilities due to high update cost and long generation period. In this study, We suggest methodology to update a building layer of digital map in urban area as regenerating a building layer by detection of changed buildings in the existing digital map anf extraction using LIDAR data and Aerial images, more easier to acquire data and available to guarantee accuracy. Experimental results are expected to applied for constructing 3D urban model in a broad expensive urban area.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.134.1-134
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• 2001

The paper presents a sonar based map building method. The environment is a room or area inside a building, which is composed of four types of geometric primitives(corners, edges, cylinders, and walls). We also assume the environment can be modeled into two dimensional map in terms of planes(walls), points(corner and edge), and circle(cylinder). In a real world where most of the object surfaces are specular ones, a sonar sensor suffers from a multipath effect which results in a wrong interpretation of the location of an object. To reduce the effect and uncertainty, the method employs a simple thresholding technique for extracting circular arc features called regions of constant depth(RCD) from scanning sonar data. The usefulness of the approach is illustrated with the results produced by sets of experiments.