• Journal of Computing Science and Engineering
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• v.3 no.2
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• pp.109-126
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• 2009

Taxonomies are widely used to classify information, and multiple (possibly competing) taxonomies often exist for the same domain. Given a set of correspondences between two taxonomies, it is often necessary to "merge" the taxonomies, thereby creating a unied taxonomy (e.g., that can then be used by data integration and discovery applications). We present an algorithm for merging taxonomies that have been related using articulations given as RCC-5 constraints. Two taxa Nand M can be related using (disjunctions of) the ve base relations in RCC-5: M; N ${\subseteq}$M; N ${\supseteq}$; N ${\oplus}$M (partial overlap of Nand M); and N ! M (disjointness: N ${\cap}$M = ${\varnothing}$). RCC-5 is increasingly being adopted by scientists to specify mappings between large biological taxonomies. We discuss the properties of the proposed merge algorithm and evaluate our approach using real-world taxonomies.

• The Journal of Korea Robotics Society
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• v.9 no.4
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• pp.242-249
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• 2014

By a SLAM (simultaneous localization and mapping) method, we get a map of an environment for autonomous navigation of a robot. In this case, we want to know how accurate the map is. Or we want to know which map is more accurate when different maps can be obtained by different SLAM methods. So, several methods for map comparison have been studied, but they have their own drawbacks. In this paper, we propose a new method which compares the accuracy or error of maps relatively and quantitatively. This method sets many corresponding points on both reference map and SLAM map, and computes the translational and rotational values of all corresponding points using least-squares solution. Analyzing the standard deviations of all translational and rotational values, we can know the error of two maps. This method can consider both local and global errors while other methods can deal with one of them, and this is verified by a series of simulations and real world experiments.

• The Journal of Korea Robotics Society
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• v.9 no.2
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• pp.96-103
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• 2014

Global localization is one of the essential issues for mobile robot navigation. In this study, an indoor global localization method is proposed which uses a Kinect sensor and a monocular upward-looking camera. The proposed method generates an environment map which consists of a grid map, a ceiling feature map from the upward-looking camera, and a spatial feature map obtained from the Kinect sensor. The method selects robot pose candidates using the spatial feature map and updates sample poses by particle filter based on the grid map. Localization success is determined by calculating the matching error from the ceiling feature map. In various experiments, the proposed method achieved a position accuracy of 0.12m and a position update speed of 10.4s, which is robust enough for real-world applications.

• Spatial Information Research
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• v.3 no.1
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• pp.65-80
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• 1995

GIS has been developed very rapidly during last few decades and the performance of GIS in terms of information processing such as automated mapping and facility management has been tremendous. However, its analytical capability is still very limited and it is often critisized due to lack of reality. The objective of this research is that first, linking housevalue models to GIS, second, reflecting the complexity of real world into the housevalue model using GIS in terms of incorpor¬rating polycentric urban structure and calculating distance through street network, and third, comparing the results of housevalue model at census tract to that of block group level.

• Smart Structures and Systems
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• v.14 no.4
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• pp.699-718
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• 2014

The indirect displacement estimation using acceleration and strain (IDEAS) method is extended to various types of beam structures beyond the previous validation on the prismatic or near-prismatic beams. By fusing different types of responses, the IDEAS method is able to estimate displacements containing pseudo-static components with high frequency noise to be significantly reduced. However, the concerns to the IDEAS method come from possible disagreement of the assumed sinusoidal mode shapes to the actual mode shapes, which allows the IDEAS method to be valid only for simply-supported prismatic beams and limits its applicability to real world problems. In this paper, the extension of the IDEAS method to the general types of beams is investigated by the mathematical formulation of the modal mapping matrix only for the monitored substructure, so-called monitoring span. The formulation particularly considers continuous and wide beams to extend the IDEAS method to general beam structures that reflect many real bridges. Numerical simulations using four types of beams with various irregularities are presented to show the effectiveness and accuracy of the IDEAS method in estimating displacements.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.9
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• pp.539-546
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• 2005

This paper describes a method of building the probability grid map for an autonomous mobile robot using the ultrasonic DAF(data association filter). The DAF, which evaluates the association of each data with the rest and removes the data affected by the specular reflection effect, can improve the reliability of the data for the Probability grid map. This method is based on the evaluation of possibility that the acquired data are all from the same object. Namely, the data from specular reflection have very few possibilities of detecting the same object, so that they are excluded from the data cluster during the process of the DAF. Therefore, the uncertain data corrupted by the specular reflection and/or multi-path effect, are not used to update the probability map, and hence building a good quality of a grid map is possible even in a specular environment. In order to verify the effectiveness of the DAF, it was applied to the Bayesian model and the orientation probability model which are the typical ones of a grid map. We demonstrate the experimental results using a real mobile robot in the real world.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.28 no.6
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• pp.669-676
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• 2010

Visualization requires for effective analysis of the spatial data collected by various sensors. The best way to convey 3D digital spatial information which is modeling of the real world to the users, realistic 3D visualization and display technology. Since most of the display is based on 2D or 2.5D projection to the plane, there is limitation in representing real world in 3D space. In this paper, data from airborne LiDAR for topographic mapping, Flashi-LiDAR as emerging sensor with great potential to 3D data acquisition, and multibeam echo-sounder for underwater measurement, were stereoscopically visualized. 3D monitors are getting popular and could be information media and platform in geoinformatics. Therefore, study on creating 3D stereoscopic contents of spatial information is essential for new technology of stereo viewing systems.

• Proceedings of the CALSEC Conference
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• 1999.07a
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• pp.215-231
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• 1999

CALS, Enterprise Integration, Virtual Enterprise 등을 구현하는데 있어서 BPR (business process re-engineering), ISP (Information Strategy Planning), Analysis/Design 등은 필수 적이다. 이러한 BPR, ISP, A/D 추진하는데 있어서 각 단계의 산출물은 유연하게 연계되지 못한다. 그 이유는 각 단계가 접근하는 초점이 다르고, 산출물의 성격이 다르며, 무엇보다도 각 단계의 전문가가 다르기 때문에 발생한다. 현재 기업이 각 단계를 추진할 때에는 반복적인 피드백을 통하여 정보를 공유하거나, 각 단계의 정보 연계가 제대로 이루어지지 않는다. 이러한 문제를 해결하기 위하여 BPR-ISP-A/D의 정보 연계를 유연하게 하기 위하여 PPO (Product-Process-Organization) 객체 진화에 의한 통합 방법론을 제안 하고자 한다. 그 과정은 1) Real world 정보를 PPO 객체로 정의하고, 2) PPO 객체를 기반으로 BPR을 수행하여 TO-BE model 을 만드는 동시에, 3) PPO TO-BE model과 함께 IT Architecture를 정의하며, 4) PPO 객체를 기반으로 Analysis and Design 과정을 통하여 Application system 객체 및 Data 객체를 정의한다. 이때 PPO 객체는 Real-world 객체에서 Application system 객체 및 Data 객체로 진화하게 되고 BPR-ISP-A/D의 seamless 통합이 이루어진다. 여기서, 단계 1) 과 2)는 System Engineering을 통하여 이루어진다. ARIS(Architecture of Integrated Information System, Dr. A-W. Scheer, 1998)개념을 도입하여 실세계를 정해진 규약에 따라 Model로 Mapping하고, 생성된 Model을 바탕으로 BPR을 수행하여 개선된 Model을 산출해 낸다. 단계 3)은, IE (Information Engineering, James Martine, 1990) 의 ISP가 도입되어, 설계업무를 지원하기위한 기본적인 시스템 구조를 구상하게 된다. 이와 함께 IT Model을 구성하게 되는데, 객체지향적 접근 방법으로 Model을 생성하고 UML(Unified Modeling Language)을 Tool로 사용한다. 단계 4)는 Software Engineering 관점으로 접근한다. 이는 최종산물이라고 볼 수 있는 설계업무 지원 시스템을 Design하는 과정으로, 시스템에 사용될 데이터를 Design하는 과정과, 데이터를 기반으로 한 기능을 Design하는 과정으로 나눈다. 이를 통해 생성된 Model에 따라 최종적으로 Coding을 통하여 실제 시스템을 구축하게 된다.

• Journal of KIISE
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• v.43 no.7
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• pp.781-785
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• 2016

Learning from human behaviors in the real world is essential for human-aware intelligent systems such as smart assistants and autonomous robots. Most of research focuses on correlations between sensory patterns and a label for each activity. However, human activity is a combination of several event contexts and is a narrative story in and of itself. We propose a novel approach of human activity prediction based on event cognition. Egocentric multi-sensor data are collected from an individual's daily life by using a wearable device and smartphone. Event contexts about location, scene and activities are then recognized, and finally the users" daily activities are predicted from a decision rule based on the event contexts. The proposed method has been evaluated on a wearable sensor data collected from the real world over 2 weeks by 2 people. Experimental results showed improved recognition accuracies when using the proposed method comparing to results directly using sensory features.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.3
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• pp.393-400
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• 2009

Recently demand for the 3D modeling technology to reconstruct real world is getting increasing. However, existing geospatial data are mainly based on the 2D space. In addition, most of the geospatial data provide geometric information only. In consequence, there are limits in various applications to utilize information from those data and to reconstruct the real world in 3D space. Therefore, it is required to develop efficient 3D mapping methodology and data for- mat to establish geospatial database. Especially digital elevation model(DEM) is one of the essential geospatial data, however, DEM provides only spatially distributed 3D coordinates of the natural and artificial surfaces. Moreover, most of DEMs are generated without considering terrain properties such as surface roughness, terrain type, spatial resolution, feature and so on. This paper suggests adaptive and flexible geospatial data format that has possibility to include various information such as terrain characteristics, multiple resolutions, interpolation methods, break line information, model keypoints, and other physical property. The study area was categorized into mountainous area, gently rolling area, and flat area by taking the terrain characteristics into account with respect to terrain roughness. Different resolutions and interpolation methods were applied to each area. Finally, a 3D digital map derived from aerial photographs was integrated with the geospatial data and visualized.