• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.122-129
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• 2021

For the Simultaneous Localization and Mapping (SLAM) problem, a different path results in different SLAM results. Usually, SLAM follows a trail of input data. Active SLAM, which determines where to sense for the next step, can suggest a better path for a better SLAM result during the data acquisition step. In this paper, we will use reinforcement learning to find where to perceive. By assigning entire target area coverage to a goal and uncertainty as a negative reward, the reinforcement learning network finds an optimal path to minimize trajectory uncertainty and maximize map coverage. However, most active SLAM researches are performed in indoor or aerial environments where robots can move in every direction. In the urban environment, vehicles only can move following road structure and traffic rules. Graph structure can efficiently express road environment, considering crossroads and streets as nodes and edges, respectively. In this paper, we propose a novel method to find optimal SLAM path using graph structure and reinforcement learning technique.

• Convergence Security Journal
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• v.6 no.4
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• pp.113-120
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• 2006

C4I system is the centerpiece of the military force. The system is an information based system which facilitates information grid, collection of data and dissemination of the information. The C4I system seeks to assure information dominance by linking warfighting elements in the battlespace to information network which enables sharing of battlespace information and awareness; thereby shifting concept of warfare from platform-centric paradigm to Network Centric Warfare. Although, it is evident that C4I system is a constant target from the adversaries, the issues of vulnerability via cyberspace from attack still remains. Therefore, the protection of C4I system is critical. The roadmap I have constructed in this paper will guide through the direction to protect the system during peace and war time. Moreover, it will propose vision, objectives and necessary supporting framework to secure the system from the threat. In order to fulfill these tasks, enhanced investments and plans from the Joint chief of Staff and Defense of Acquisition and Program Administration (DAPA) is critical; thereby enabling the establishment of rapid and efficient security system.

• Journal of the Korean Association of Geographic Information Studies
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• v.11 no.2
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• pp.108-120
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• 2008

This paper discusses the prediction of deforestation areas using probability models from forest census database, Geographic information system (GIS) database and the land cover database. The land cover data was analyzed using remotely-sensed (RS) data of the Landsat TM data from 1989 to 2001. Over the analysis period of 12 years, the deforestation area was about 40ha. Most of the deforestation areas were attributable to road construction and residential development activities. About 80% of the deforestation areas for residential development were found within 100m of the road network. More than 20% of the deforestation areas for forest road construction were within 100m of the road network. Geographic factors and vegetation change detection (VCD) factors were used in probability models to construct deforestation occurrence map. We examined the size effect of area partition as training area and validation area for the probability models. The Bayes model provided a better deforestation prediction rate than that of the regression model.

• The Journal of the Korea Contents Association
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• v.19 no.1
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• pp.125-131
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• 2019

A vanishing point is a point on an image to which parallel lines projected from a real space gather. A vanishing point in a road space provides important spatial information. It is possible to improve the position of an extracted lane or generate a depth map image using a vanishing point in the road space. In this paper, we propose a method of detecting vanishing points on images taken from a vehicle's point of view using Deep Neural Network (DNN) and Histogram of Oriented Gradient (HoG). The proposed algorithm is divided into a HoG feature extraction step, in which the edge direction is extracted by dividing an image into blocks, a DNN learning step, and a test step. In the learning stage, learning is performed using 2,300 road images taken from a vehicle's point of views. In the test phase, the efficiency of the proposed algorithm using the Normalized Euclidean Distance (NormDist) method is measured.

• Journal of Korean Society for Geospatial Information Science
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• v.19 no.3
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• pp.33-40
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• 2011

This paper presents the prediction and evaluation of landslide using LRA(logistic regression analysis) and ANN (Artificial Neural Network) methods. In order to assess the landslide, we selected Sarabong, Byeoldobong area and Mt. Song-ak in Jeju Island. Five factors which affect the landslide were selected as: slope angle, elevation, porosity, dry density, permeability. So as to predict and evaluate the landslide, firstly the weight value of each factor was analyzed by LRA(logistic regression analysis) and ANN(Artificial Neural Network) methods. Then we got two prediction maps using AcrView software through GIS(Geographic Information System) method. The comparative analysis reveals that the slope angle and porosity play important roles in landslide. Prediction map generated by LRA method is more accurate than ANN method in Jeju. From the prediction map, we found that the most dangerous area is distributed around the road and path.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.3
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• pp.157-164
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• 2022

In this paper, we describe how to implement the mountainous terrain, radar, and air defense network for UAV path planning in a 3-D environment, and perform path planning and re-planning using the PRM algorithm, a sampling-based path planning algorithm. In the case of the original PRM algorithm, the calculation to check whether there is an obstacle between the nodes is performed 1:1 between nodes and is performed continuously, so the amount of calculation is greatly affected by the number of nodes or the linked distance between nodes. To improve this part, the proposed LineGridMask method simplifies the method of checking whether obstacles exist, and reduces the calculation time of the path planning through parallelization. Finally, comparing performance with existing PRM algorithms confirmed that computational time was reduced by up to 88% in path planning and up to 94% in re-planning.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.31 no.6_1
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• pp.483-491
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• 2013

By a development of car navigation systems and mobile or positioning technology, it increases interest in location based services, especially pedestrian navigation systems. Updating of digital maps is important because digital maps are mass data and required to short updating cycle. In this paper, we proposed change detection for different network data-sets based on areal feature matching. Prior to change detection, we defined type of updating between different network data-sets. Next, we transformed road lines into areal features(block) that are surrounded by them and calculated a shape similarity between blocks in different data-sets. Blocks that a shape similarity is more than 0.6 are selected candidate block pairs. Secondly, we detected changed-block pairs by bipartite graph clustering or properties of a concave polygon according to types of updating, and calculated Fr$\acute{e}$chet distance between segments within the block or forming it. At this time, road segments of KAIS map that Fr$\acute{e}$chet distance is more than 50 are extracted as updating road features. As a result of accuracy evaluation, a value of detection rate appears high at 0.965. We could thus identify that a proposed method is able to apply to change detection between different network data-sets.

• Journal of the Korean association of regional geographers
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• v.20 no.3
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• pp.300-314
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• 2014

The study is to systematically review "DaedongYeojiJeondo", the mid-sized wood block map of Chosun to shed light on the cartographic characteristics not discovered by previous studies. First it was discovered that Kim Jung-ho is the developer of the map as the distance information from Seoul to towns is identical with the information on "Daedong Jiji" the manuscript map drawn by Kim Jung-ho himself (assumed to live from 1804~1866) that is still remaining unfinished. Second, the information Kim Jung-ho wanted to specify most precisely and specifically was distance from Seoul to towns and for this purpose he invented unique symbols for towns in tiny size on the map. Third, in selecting information to mark on the map including road network, street information, mountain routes and streams and location of islands, "DaedongYeojiJeondo" is not just a simple smaller copy of "DaedongYeojido" but an independent creative work as it is much different in many aspects of quality. Forth, but still "DaedongYeojiJeondo" and "DaedongYeojido" have something in common in the fact both of them tried to mark land and mountain routes and streams most precisely and specifically.

• Journal of Information Processing Systems
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• v.7 no.2
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• pp.221-240
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• 2011

Vehicular networks are a promising application of mobile ad hoc networks. In this paper, we introduce an efficient broadcast technique, called CB-S (Cell Broadcast for Streets), for vehicular networks with occlusions such as skyscrapers. In this environment, the road network is fragmented into cells such that nodes in a cell can communicate with any node within a two cell distance. Each mobile node is equipped with a GPS (Global Positioning System) unit and a map of the cells. The cell map has information about the cells including their identifier and the coordinates of the upper-right and lower-left corner of each cell. CB-S has the following desirable property. Broadcast of a message is performed by rebroadcasting the message from every other cell in the terrain. This characteristic allows CB-S to achieve an efficient performance. Our simulation results indicate that messages always reach all nodes in the wireless network. This perfect coverage is achieved with minimal overhead. That is, CB-S uses a low number of nodes to disseminate the data packets as quickly as probabilistically possible. This efficiency gives it the advantage of low delay. To show these benefits, we give simulations results to compare CB-S with four other broadcast techniques. In practice, CB-S can be used for information dissemination, or to reduce the high cost of destination discovery in routing protocols. By also specify the radius of affected zone, CB-S is also more efficient when broadcast to a subset of the nodes is desirable.

• Journal of the Society of Disaster Information
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• v.19 no.2
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• pp.334-343
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• 2023

Purpose: In this study, the cavity data found through ground cavity exploration was combined with underground facilities to derive a correlation, and the ground subsidence prediction map was verified based on the AI algorithm. Method: The study was conducted in three stages. The stage of data investigation and big data collection related to risk assessment. Data pre-processing steps for AI analysis. And it is the step of verifying the ground subsidence risk prediction map using the AI algorithm. Result: By analyzing the ground subsidence risk prediction map prepared, it was possible to confirm the distribution of risk grades in three stages of emergency, priority, and general for Busanjin-gu and Saha-gu. In addition, by arranging the predicted ground subsidence risk ratings for each section of the road route, it was confirmed that 3 out of 61 sections in Busanjin-gu and 7 out of 68 sections in Sahagu included roads with emergency ratings. Conclusion: Based on the verified ground subsidence risk prediction map, it is possible to provide citizens with a safe road environment by setting the exploration section according to the risk level and conducting investigation.