• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.9
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• pp.45-53
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• 2006

This paper proposes a method for an effective intelligent route decision for automatic moving robots(AMR) using a 2D spatial map of a stereo camera system. In this method, information about depth and disparity map are detected in the inputting images of a parallel stereo camera. The distance between the automatic moving robot and the obstacle is detected, and a 2D spatial map is obtained from the location coordinates. Then the relative distances between the obstacle and other objects are deduced. The robot move automatically by effective and intelligent route decision using the obtained 2D spatial map. From experiments on robot driving with 240 frames of stereo images, it was found that the error ratio of the calculated distance to the measured distance between objects was very low, 1.52[%] on average.

• International Journal of Internet, Broadcasting and Communication
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• v.8 no.4
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• pp.54-57
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• 2016

In this paper, the method for an effective and intelligent route decision of the automatic ground vehicle (AGV) using a 2D spatial map of the stereo camera system is proposed. The depth information and disparity map are detected in the inputting images of a parallel stereo camera. The distance between the automatic moving robot and the obstacle detected and the 2D spatial map obtained from the location coordinates, and then the relative distance between the obstacle and the other objects obtained from them. The AGV moves automatically by effective and intelligent route decision using the obtained 2D spatial map. From some experiments on robot driving with 480 frames of the stereo images, it is analyzed that error ratio between the calculated and measured values of the distance between the objects is found to be very low value of 1.57% on average, respectably.

• Journal of Information Processing Systems
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• v.13 no.1
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• pp.68-82
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• 2017

Nowadays, geographic information system (GIS) is developed and implemented in many areas. A huge volume of vector map data has been accessed unlawfully by hackers, pirates, or unauthorized users. For this reason, we need the methods that help to protect GIS data for storage, multimedia applications, and transmission. In our paper, a selective encryption method is presented based on vertex randomization and hybrid transform in the GIS vector map. In the proposed algorithm, polylines and polygons are focused as the targets for encryption. Objects are classified in each layer, and all coordinates of the significant objects are encrypted by the key sets generated by using chaotic map before changing them in DWT, DFT domain. Experimental results verify the high efficiency visualization by low complexity, high security performance by random processes.

• Journal of Digital Convergence
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• v.10 no.3
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• pp.173-178
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• 2012

In this paper, a new saliency map generation method is discussed which extracts objects effectively using extracted Salient Region. Feature map is constructed first using four features of edge, hue of HSV color model, focus and entropy and then conspicuity map is generated from Center Surround Differences using the feature map. Final saliency map is constructed by the combination of conspicuity maps. Saliency map generated using this procedure is compared to the conventional technique and confirmed that new technique has better results.

• Journal of Korea Multimedia Society
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• v.20 no.8
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• pp.1312-1320
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• 2017

Recently, vector map data is developed and used in many domains widely. In the most cases, vector map data contains confidential information which must be kept away from unauthorized users. Moreover, the production process of vector maps is considerably complex and consumes a lot of money and human resources. Therefore, the secured storage and transmission are necessary to prevent the illegal copying and distribution from hacker. This paper presents a selective encryption algorithm using geometric objects in frequency domain for vector map data. In the proposed algorithm, polyline and polygon data in vector map is the target of the selective encryption process. Experimental results verified that proposed algorithm is effectively and adaptive the requirements of security.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.16-22
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• 2024

Robotic grasping in unstructured environments poses a significant challenge, demanding precise estimation of gripping positions for diverse and unknown objects. Generative Grasping Convolution Neural Network (GG-CNN) can estimate the position and direction that can be gripped by a robot gripper for an unknown object based on a three-dimensional depth map. Since GG-CNN uses only a depth map as an input, the precision of the depth map is the most critical factor affecting the result. To address the challenge of depth map precision, we integrate the Segment Anything Model renowned for its robust zero-shot performance across various segmentation tasks. We adjust the components corresponding to the segmented areas in the depth map aligned through external calibration. The proposed method was validated on the Cornell dataset and SurgicalKit dataset. Quantitative analysis compared to existing methods showed a 49.8% improvement with the dataset including surgical instruments. The results highlight the practical importance of our approach, especially in scenarios involving thin and metallic objects.

• Spatial Information Research
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• v.20 no.2
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• pp.137-153
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• 2012

Until now, many indexing methods that can reduce update cost have been proposed for managing massive moving objects. Because indexing methods for moving objects have to be updated periodically for managing moving objects that change their location data frequently. However these kinds indexing methods occur big load that exceed system capacity when the number of moving objects increase dramatically. In this paper, we propose the update frequency reducing method to combine MapReduce and existing indices. We use the update request grouping method for each moving object by using MapReduce. We decide to update by comparing the latest data and the oldest data in grouping data. We reduce update frequency by updating the latest data only. When update is delayed, for the data should not be lost and updated periodically, we store the data in a certain period of time in the hash table that keep previous update data. By the performance evaluation, we can prove that the proposed method reduces the update frequency by comparison with methods that are not applied the proposed method.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.39 no.6
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• pp.515-523
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• 2021

An integrated underground spatial map consists of underground facilities, underground structures, and ground information, and is periodically updated. In this paper, we design and implement a system for detecting and extracting only changed ground objects to shorten the map update speed. To find the changed objects, all the objects are compared, which are included in the newly input map and the reference map in the integrated map. Since the entire process of comparing objects and generating results is classified by function, the implemented system is composed of several modules such as object comparer, changed object detector, history data manager, changed object extractor, changed type classifier, and changed object saver. We use two metrics: detection rate and extraction rate, to evaluate the performance of the system. As a result of applying the system to boreholes, ground wells, soil layers, and rock floors in Pyeongtaek, 100% of inserted, deleted, and updated objects in each layer are detected. In addition, it provides the advantage of ensuring the up-to-dateness of the reference map by downloading it whenever maps are compared. In the future, additional research is needed to confirm the stability and effectiveness of the developed system using various data to apply it to the field.

• The KIPS Transactions:PartD
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• v.10D no.3
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• pp.359-366
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• 2003

Although the reuse of the cached data for scrolling the map reduces the amount of passed data between client and server, it needs the conversions of data coordinates, selective deletion of objects, cache compaction and object structuring step in the clients. The conversion is a time- intensive operation due to limited resources of mobile phones such as low computing power, small memory. Therefore, in order to control the map efficiently in the vector map service based mobile phones, it is necessary to study the methods which reuse cached objects for reducing wireless network bandwidth and overwhelming the limited resources of mobile phones as well. This paper proposes the methods of reusing pre-received spatial objects for map control in the mobile vector map service system based on client-server architecture. The experiments conducted on the Web GIS systems with real data show that the proposed method is appropriate to map services for mobile phone. We also analyze the advantages and drawbacks between the reuse of cached data and transmission of raw data respectively.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.4
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• pp.1897-1903
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• 2011

This paper discusses a 2D/3D conversion of images using technologies like object extraction and depth-map creation. The general procedure for converting 2D images into a 3D image is extracting objects from 2D image, recognizing the distance of each points, generating the 3D image and correcting the image to generate with less noise. This paper proposes modified new methods creating a depth-map from 2D image and recognizing the distance of objects in it. Depth-map information which determines the distance of objects is the key data creating a 3D image from 2D images. To get more accurate depth-map data, noise filtering is applied to the optical flow. With the proposed method, better depth-map information is calculated and better 3D image is constructed.