• Proceedings of the Korea Information Processing Society Conference
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• 2008.11a
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• pp.1387-1390
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• 2008

In a wireless network, handover latency is very important in supporting user mobility with the required quality of service (QoS). In view of this many schemes have been developed which aim to reduce the handover latency. The Hierarchical Mobile IPv6 (HMIPv6) approach is one such scheme which reduces the high handover latency that arises when mobile nodes perform frequent handover in Mobile IPv6 wireless networks. Although HMIPv6 reduces handoff latency, failures in the mobility anchor point (MAP) results in severe disruption or total disconnection that can seriously affect user satisfaction in ongoing sessions between the mobile and its correspondent nodes. HMIPv6 can avoid this situation by using more than one mobility anchor point for each link. In [3], an improved Robust Hierarchical Mobile IPv6 (RH-MIPv6) scheme is presented which enhances the HMIPv6 method by providing a fault-tolerant mobile service using two different MAPs (Primary and Secondary). It has been shown that the RH-MIPv6 scheme can achieve approximately 60% faster recovery times compared with the standard HMIPv6 approach. However, if mobile nodes perform frequent handover in RH-MIPv6, these changes incur a high communication overhead which is configured by two local binding update units (LBUs) as to two MAPs. To reduce this communication overhead, a new cost-reduced binding update scheme is proposed here, which reduces the communication overhead compared to previous schemes, by using an increased number of MAP switches. Using this new proposed method, it is shown that there is a 19.6% performance improvement in terms of the total handover latency.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.2017-2022
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• 2004

Data association is a process that matches a recent observation with known data set, which is used for the localization of mobile robots. Edges in topological maps have rich information which can be used for the data association. However, no systematic approach on using the edge data for data association has been reported. This paper proposes a systematic way of utilizing the edge data for data association. First, we explain a Local Generalized Voronoi Angle(LGA) to represent the edge data in 1-dimension. Second, we suggest a key factor extraction procedure from the LGA to reduce the number by $2^7-2^8$ times, for computational efficiency using the wavelet transformation. Finally we propose a way of data association using the key factors of the LGA. Simulations show that the proposed data association algorithm yields higher probability for similar edges in computationally efficient manner.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.8
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• pp.678-687
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• 2005

This paper describes a relative localization algorithm using odometry data and consecutive local maps. The purpose of this paper is the odometry error correction using the area matching of two consecutive local maps. The local map is built up using a sensor module with dual laser beams and USB camera. The range data form the sensor module is measured using the structured lighting technique (active stereo method). The advantage in using the sensor module is to be able to get a local map at once within the camera view angle. With this advantage, we propose the AVS (Aligned View Sector) matching algorithm for. correction of the pose error (translational and rotational error). In order to evaluate the proposed algorithm, experiments are performed in real environment.

• Journal of Multimedia Information System
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• v.4 no.4
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• pp.249-254
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• 2017

Digital vector maps must be compressed effectively for transmission or storage in Web GIS (geographic information system) and mobile GIS applications. This paper presents a polyline compression method that consists of polyline feature-based hybrid simplification and second derivative-based data compression. Experimental results verify that our method has higher simplification and compression efficiency than conventional methods and produces good quality compressed maps.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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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.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2010.04a
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• pp.311-313
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• 2010

This study is on the adapting vehicle-based mobile mapping system to the frequent unscheduled revision of 1:5000 scale national base map. We analyzed map layers which could be built by vehicle-based mobile mapping systems and studied surveying methods for each layers. Also, the methods of maintain surveying accuracy to satisfy accuracy standards of national base map were suggested. The maps of Yeouido, Hyangnam, and Suwon area were revised by vehicle-based mobile mapping system on a trial bases and possibility of utilizing vehicle-based mobile mapping system for map revision was analyzed. As a results it was revealed that vehicle-based mobile mapping systems were adequate for a irregular revision of national base map.

• Proceedings of the Korea Information Processing Society Conference
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• 2012.11a
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• pp.1464-1467
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• 2012

스마트 폰 사용자 수가 2000만명 이상이 됨에 따라 모바일 맵 서비스에 대한 수요가 급증하고 있다. 한편, 모바일 기반의 맵 응용의 개발을 위해선 WINDEV Mobile 17과 같은 유료 개발 환경이 있지만 자동화 지원 경도가 미약하여 맵 응용의 생산성이 떨어지고 유지 보수 기간도 많이 소요된다. 우리가 설계하고 구현한 MobileMapGen은 GoogleMaps API를 사용하며 서버 측을 위해 CMS(Content Management System)인 Drupal 환경에 사용 가능 한 모듈들을 생성하고 클라이언트 측엔 iOS 앱을 생성해 맵 응용에 대한 생산성을 향상시켜 준다. 맵 컨텐츠와 그와 연관된 컨텐츠들을 함께 제공하는 모바일의 맵 응용 생성기인 MobileMapGen과 달리 WINDEV Mobile 17, MobilForms, 그리고 VisualStudio.NET는 맵 인터페이스를 지원하지 않거나 위치 정보 형태만을 표시한다. 그렇기 때문에 사용자가 원하는 지형/지물 컨텐츠 타입을 생성하거나 맵 상에 표시하고 관심의 대상인 지형/지물과 연관된 컨텐츠들을 검색할 수 없다.

• Journal of Advanced Navigation Technology
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• v.17 no.6
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• pp.633-637
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• 2013

By using geolocation and maps, we need to trace the path of ourselves, others, or the objects. Until now, we used a native apps development mehod to develop path tracking systems in mobile devices such as smart phones and tablet computers. A disadvantage of this method is that we have to work again to provide the same service on different platforms. Web Apps and Hybrid Apps are developed to recover this disadvantage. Since Hybrid Apps look like Native Apps apparently, users prefer Hybrid Apps to Web Apps. In this paper, we develop a hybrid app which can trace the path on mobile devices. The recently suggested next generation markup language, HTML5, has geolocation features. By using them, we implemented a hybrid app for a path tracking system. First, we create a web app using HTML5, CSS, and JavaScript, Then, PhoneGap, a mobile development framework, is used to convert it to the hybrid app. By implementing hybrid app, various apps which need path tracking can be developed rapidly and effectively, regardless of the mobile devices.

• Journal of the Korea Society of Computer and Information
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• v.25 no.12
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• pp.173-186
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• 2020

In this paper, we design and implement a service system for mobile devices to utilize the integrated underground geospatial information map in underground exploration fields. The field utilization service system for mobile devices is designed to visualize tiled maps, 3D terrain information, underground structures, underground facilities, and ground information provided by the Integrated Underground Geospatial Information Map Management System according to current position. And It is designed to reflect the results obtained from field exploration in real time. Also, the proposed system is implemented to transfer and visualize the integrated underground geospatial information map in the form of a glTF format due to constraints on wireless networks and device characteristics of mobile devices. Implemented mobile service systems can prevent accidents in underground exploration field from occurring by providing users with accurate and integrated underground geospatial data by visualizing maps and geospatial objects in three dimensions at underground exploration fields. In addition, updated underground geospatial data is transmitted in real time to the Integrated Underground Geospatial Information Map Management Systems, which can maintain up to date and accuracy.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2033-2038
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• 2003

This paper describes an integrated navigation strategy for the autonomous service robot PSR. The PSR is under development at the KIST for service tasks in indoor public environments. The PSR is a multi-functional mobile-manipulator typed agent, which works in daily life. Major advantages of proposed navigation are as follows: 1) Structured control architecture for a systematic integration of various software modules. A Petri net based configuration design enables stable control flow of a robot. 2) A range sensor based generalized scheme of navigation. Any range sensor can be selectively applied using the proposed navigation scheme. 3) No need for modification of environments. (No use of artificial landmarks.) 4) Hybrid approaches combining reactive behavior as well as deliberative planner, and local grid maps as well as global topological maps. A presented experimental result shows that the proposed navigation scheme is useful for mobile service robot in practical applications.