• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.112-121
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• 2021

Unlike a typical small-sized robot navigating in a free space, an autonomous vehicle has to travel in a designated road which has lanes to follow and traffic rules to obey. High-Definition (HD) maps, which include road markings, traffic signs, and traffic lights with high location accuracy, can help an autonomous vehicle avoid the need to detect such challenging road surroundings. With space constraints and a pre-built HD map, a new type of path planning algorithm can be conceived as a substitute for conventional grid-based path planning algorithms, which require substantial planning time to cover large-scale free space. In this paper, we propose an obstacle-avoiding, cost-based planning algorithm in a continuous space that aims to pursue a globally-planned path with the help of HD map information. Experimentally, the proposed algorithm is shown to outperform other state-of-the-art path planning algorithms in terms of computation complexity in a typical urban road setting, thereby achieving real-time performance and safe avoidance of obstacles.

• Journal of the korean society of oceanography
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• v.38 no.4
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• pp.173-184
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• 2003

Major differences between wind speeds from atmospheric pressure maps (Na wind) and near­surface wind speeds derived from satellite scatterometer (NSCAT) observations over the East (Japan) Sea have been examined. The root­mean­square errors of Na wind and NSCAT wind speeds collocated with Japanese Meteorological Agency (JMA) buoy winds are about $3.84\;ms^{-1}\;and\;1.53\;ms^{-1}$, respectively. Time series of NSCAT wind speeds showed a high coherency of 0.92 with the real buoy measurements and contained higher spectral energy at low frequencies (>3 days) than the Na wind. The magnitudes of monthly Na winds are lower than NSCAT winds by up to 45%, particularly in September 1996. The spatial structures between the two are mostly coherent on basin­wide large scales； however, significant differences and energy loss are found on a spatial scale of less than 100 km. This was evidenced by the temporal EOFs (Empirical Orthogonal Functions) of the two wind speed data sets and by their two­dimensional spectra. Since the Na wind was based on the atmospheric pressures on the weather map, it overlooked small­scale features of less than 100 km. The center of the cold­air outbreak through Vladivostok, expressed by the Na wind in January 1997, was shifted towards the North Korean coast when compared with that of the NSCAT wind, whereas NSCAT winds revealed its temporal evolution as well as spatial distribution.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.6
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• pp.625-635
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• 2014

Multiple strips are required for large area mapping using ALS (Airborne Laser Scanner) system. LiDAR (Light Detection And Ranging) data collected from the ALS system has discrepancies between strips due to systematic errors of on-board laser scanner and GPS/INS, inaccurate processing of the system calibration as well as boresight misalignments. Such discrepancies deteriorate the overall geometric quality of the end products such as DEM (Digital Elevation Model), building models, and digital maps. Therefore, strip adjustment for minimizing discrepancies between overlapping strips is one of the most essential tasks to create seamless point cloud data. This study implemented area-based matching (ABM) to determine conjugate features for computing 3D transformation parameters. ABM is a well-known method and easily implemented for this purpose. It is obvious that the exact same LiDAR points do not exist in the overlapping strips. Therefore, the term "conjugate point" means that the location of occurring maximum similarity within the overlapping strips. Coordinates of the conjugate locations were determined with sub-pixel accuracy. The major drawbacks of the ABM are sensitive to scale change and rotation. However, there is almost no scale change and the rotation angles are quite small between adjacent strips to apply AMB. Experimental results from this study using both simulated and real datasets demonstrate validity of the proposed scheme.

• Journal of Aerospace System Engineering
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• v.18 no.2
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• pp.56-63
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• 2024

As the safety of unmanned vehicles continues to improve, their usage in urban environments, which are full of obstacles such as buildings, is expected to increase. When numerous unmanned vehicles are operated in such environments, an algorithm that takes into account mutual collision avoidance, as well as static and dynamic obstacle avoidance, is necessary. In this paper, we propose an algorithm that handles task assignment and path planning. To efficiently plan paths, we construct a grid-based map and derive the paths from it. To enable quick re-planning in dynamic environments, we focus on reducing computational time. Through simulation, we explain obstacle avoidance and mutual collision avoidance in small-scale problems and confirm their performance by observing the entire mission completion time (Makespan) in large-scale problems.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.33 no.5
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• pp.397-405
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• 2015

Currently, Korea's digital maps are being produced through traditional aerial photogrammetry methods. Aerial photogrammetry is the most economical way to produce a map of a wide area. However, timely survey is not allowed depends on weather condition and it is inefficient for small area surveying in economic point of view. Therefore, it costs too much and needs long time to produce a map for various small areas where are terrestrial changes for updating the map. In contrast, UAV photogrammetry is possible to work even in cloudy weather because of shooting at low altitude below the clouds. It also has excellent mobility and shoot quickly and well suited for small-scale mapping in several places by low cost. In this study, we produced an ortho-photo and digital map with the UAV photogrammetry method using SIFT and SfM algorithm and verified its accuracy to evaluate the applicability for future digital map updates. The accuracy was verified by comparing the results of the ground survey for check points selected on the digital map. Test results show small errors at ±2.6cm in X coordinates, ±2.8cm in Y coordinates and ±5.8cm in height and we could find a possibility that UAV photogrammetry would be fully applicable for digital map updating.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.38 no.1
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• pp.23-33
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• 2020

Recently, high-resolution images can be easily acquired using UAV (Unmanned Aerial Vehicle), so that it is possible to produce small area observation and spatial information at low cost. In particular, research on the generation of cover maps in crop production areas is being actively conducted for monitoring the agricultural environment. As a result of comparing classification performance by applying RF(Random Forest), SVM(Support Vector Machine) and CNN(Convolutional Neural Network), deep learning classification method has many advantages in image classification. In particular, land cover classification using satellite images has the advantage of accuracy and time of classification using satellite image data set and pre-trained parameters. However, UAV images have different characteristics such as satellite images and spatial resolution, which makes it difficult to apply them. In order to solve this problem, we conducted a study on the application of deep learning algorithms that can be used for analyzing agricultural lands where UAV data sets and small-scale composite cover exist in Korea. In this study, we applied DeepLab V3 +, FC-DenseNet (Fully Convolutional DenseNets) and FRRN-B (Full-Resolution Residual Networks), the semantic image classification of the state-of-art algorithm, to UAV data set. As a result, DeepLab V3 + and FC-DenseNet have an overall accuracy of 97% and a Kappa coefficient of 0.92, which is higher than the conventional classification. The applicability of the cover classification using UAV images of small areas is shown.

• Journal of the Korean Geographical Society
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• v.39 no.3
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• pp.344-359
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• 2004

This geographical study is to identify the reality of Nokdun island which was once settled and farmed by our ancestor, but currently the island is do facto under Russia's control. Various historical documents including old maps, current large scale maps and satellite images besides field work were used for full analysis. According to historical records, up until Chosun Dynasty, Nokdun island in the lower Tuman river was one of the frontier fortified base crossed the river for the northern defense as well as seasonal farming for the farmer of Kyounghung border area. Even though the island was unjustly lost to Russia by the Beijing Treaty in the late Chosun period, the whole area of Nokdun was occupied and farmed by sole Koreans until the deportation by Stalin was forcibly measured. In these days due to the change of Tumn river channel and new deposition by river it became very difficult to find the original shape of Nokdun island. However, through intensive field works based on historical records, the research team found out the existence of the old wet-dry fields, old rural farmhouse remnants, and small and medium size of millstones that are supporting the reality of the island. Especially, the team traced a mud fortress presumedly built in the early Chosun period. We believe it might allow to allocate the exact location of Nokdun island in near future.

• Journal of the Korean Geographical Society
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• v.42 no.4
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• pp.506-525
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• 2007

Incision into bedrock channel is the primary control of landform evolution, but research into bedrock incision process stagnated for long time. Due to the scaling problem of the application of results from flume studies to bedrock channel, there is a strong need to simulate the bedrock incision process with more realistic models. As a part of investigation into controls of bedrock channel incision, three-dimensional changes of rock surface with abrasion was investigated with physical modelling. 18 rock plates were abraded with various sediment particle size and sediment load and abraded surfaces of the plates were scanned with high resolution 3-D scanner. To identify the spatial pattern of erosion of the rock plates, various methods were used. There was no synthetic or holistic method that showed all features of bedrock plate produced by abrasion, so each plate was analyzed using some available methods. Contour maps, shaded relief maps and profiles show that abrasion concentrated on the centre of plate (cross profile) and upstream and downstream edges (longitudinal profile) and eroded area extended inwards. It also found that the cracks and boundaries of forming materials easily eroded than other parts. Changing patterns of surface roughness were investigated with profiles, regression analysis and spectral analysis. Majority of plates showed decrease in small-scale roughness, but it depends on microstructures of the plates rather than general hardness or other factors. SEM inspection results supported this idea.

• Journal of Korea Water Resources Association
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• v.53 no.spc1
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• pp.755-764
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• 2020

In South Korea, 850 standard watersheds and 7,807 KRF catchment areas have been used as basic maps for water resources policy establishment, however it becomes necessary to set up new standard maps with a more appropriate scale for the integrated managements of surface water-groundwater as well as water quantity-quality in the era of integrated water management. Since groundwater has a slow flow velocity and also has 3-D flow properties compared to surface water, the sub-catchment size is more effective than the regional watershed for the evaluation of surface water-groundwater interaction. The KRF catchment area, which has averagely a smaller area than the standard watershed, is similar to the sub-catchment area that generally includes the first-order or second-order tributaries. Some KRF catchment areas, which are based on the surface reach, are too small or large in a wide plain or high mountain area. Therefore, it is necessary to revise the existing KRF area if being used as a unit area for integrated management of surface-water and groundwater. A unit watershed with a KRF area of about 5 to 15 ㎢ can be effective as a basic unit for water management of local government considering a tributary composition and the location of groundwater wells, and as well it can be used as a basic tool for water demand-supply evaluation, hydrological observation system establishment, judgment of groundwater permission through a total quantity management system, pollution assessment, and prioritizing water policy, and etc.

• Korean Journal of Remote Sensing
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• v.36 no.2_2
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• pp.325-335
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• 2020

Forest canopy height can be used for estimate of above-ground forest biomass (AGB) by means of the allometric equation. The remote locations and harsh conditions of mangrove forests limit the number of field inventory data stations needed for large-scale modeling of carbon and biomass dynamics. Although active and passive spaceborne sensors have proven successful in mapping mangroves globally, the sensors generally have coarse spatial resolution and overlook small-scale features. Here we generate a 12 m spatial resolution mangrove canopy height map from TanDEM-X data acquired over the world largest intact mangrove forest located in the Sundarbans. With single-pol. TanDEM-X data from 2011 to 2013, the proposed technique makes use of the fact that the double-bounce scattering that occurs between the water and mangrove trees yields water surface level elevation over mangrove forest areas, thus allowing us to estimate forest height with the assumption of an underlying flat topography. Our observations have led to a large-scale mangrove canopy height map over the entire Sundarbans region at a 12 m spatial resolution. Our canopy height estimates were validated with ground measurements acquired in 2015, a correlation coefficient of 0.83 and a RMSE of 0.84 m. With globally available TanDEM-X data, the technique described here will potentially provide accurate global maps of mangrove canopy height at 12 m spatial resolution and provide crucial information for understanding biomass and carbon dynamics in the mangrove ecosystems.