• 로봇학회논문지
• /
• 제6권2호
• /
• pp.189-196
• /
• 2011

This paper presents a method of topological modeling using only low-cost sonar sensors. The proposed method constructs a topological model by extracting sub-regions from the local grid map. The extracted sub-regions are considered as nodes in the topological model, and the corresponding edges are generated according to the connectivity between two sub-regions. A grid confidence for each occupied grid is evaluated to obtain reliable regions in the local grid map by filtering out noisy data. Moreover, a convexity measure is used to extract sub-regions automatically. Through these processes, the topological model is constructed without predefining the number of sub-regions in advance and the proposed method guarantees the convexity of extracted sub-regions. Unlike previous topological modeling methods which are appropriate to the corridor-like environment, the proposed method can give a reliable topological modeling in a home environment even under the noisy sonar data. The performance of the proposed method is verified by experimental results in a real home environment.

• 한국정밀공학회지
• /
• 제27권7호
• /
• pp.36-48
• /
• 2010

This paper is concerned with stereo vision-based approach to detect obstacles and to generate the path of destination from the start. The hexapod robot in the experiment is cable of walking by legs and driving by wheels simultaneously. The hexapod robot operates under the driving mode normally, and it changes driving mode to walking mode to overcome obstacles using its legs. Disparity map, which is the correlation between two images taken by stereo camera, is employed for calculation of the distance between the robot and obstacles. When the obstacles information is extracted from the disparity map, the potential field algorithm is applied to create the obstacle-avoidance path. Simulator, based on OpenGL, is developed to generate the graphical path, and the experimental results are shown for the verification of the proposed algorithm.

• Journal of Information Processing Systems
• /
• 제18권3호
• /
• pp.332-343
• /
• 2022

To address the problems of the gravitational search algorithm (GSA) in which the population is prone to converge prematurely and fall into the local solution when solving the single-objective optimization problem, a sine map jumping gravity search algorithm based on asynchronous learning is proposed. First, a learning mechanism is introduced into the GSA. The agents keep learning from the excellent agents of the population while they are evolving, thus maintaining the memory and sharing of evolution information, addressing the algorithm's shortcoming in evolution that particle information depends on the current position information only, improving the diversity of the population, and avoiding premature convergence. Second, the sine function is used to map the change of the particle velocity into the position probability to improve the convergence accuracy. Third, the Levy flight strategy is introduced to prevent particles from falling into the local optimization. Finally, the proposed algorithm and other intelligent algorithms are simulated on 18 benchmark functions. The simulation results show that the proposed algorithm achieved improved the better performance.

• 방송공학회논문지
• /
• 제9권4호
• /
• pp.391-401
• /
• 2004

본 논문은 고해상도 영상 서비스를 위하여 부분 영상의 공간임의접근(Spatial Random Access)을 효과적으로 구현하기 위하여 비트 스트림 지도 (B-map)를 이용한 부호화 방법을 제안한다. 다양한 환경에서, TV 브라운관, 모니터, PDA용 LCD와 같은 표준 디스플레이 장치들은 디지틸 시네마 또는 파노라마 영상과 같은 고해상도 영상을 위한 충분한 해상도와 프레임 크기를 지원하지 못하는 실정이다. 따라서 사용자는 다운샘플링된 저해상도의 영상이나 디스플레이의 크기에 맞춰진 부분 영상만을 볼 수밖에 없다. 제안한 B-map은 부호화 과정에서 생성된 비트 스트림에 대한 블록 단위의 배열 정보를 가지고 있으며, 복호 시 해당 영상의 비트 스트림보다 앞서 보내져 참조됨으로써 효과적인 지역 복호(Local decoding)를 가능하게 한다. B-map을 이용한 방식은 타일링을 비롯한 비교 대안들에 비해 효율적인 지역 복호화를 구현할 수 있음을 실험을 통해 확인하였다.

• 한국측량학회지
• /
• 제32권4_1호
• /
• pp.327-333
• /
• 2014

도시 열 환경 개선을 위해서는 무엇보다도 특정지역의 열 환경에 대한 구조적 특성분석이 선행되어져 문제점을 분석하고 보완되어야 한다. 본 연구에서는 Landsat 위성을 활용하여 대구광역시의 1월과 8월의 열 환경의 중심성 측정, 분포도 작성, 공간통계 분석 등을 활용하여 공간적 특성에 따른 열 환경구조를 분석하였다. 분석을 위해 위성영상의 열적외밴드를 활용하여 표준정규분포화하여 점수로 중심성을 추출하였고, 국지적 공간에서의 자기 상관성을 파악하기 위한 국지적 모란지수(Local Local Moran's I)를 기초로 한 Cluster Map를 작성하여 환경공간구조의 분포 특성을 파악하였다. 따라서 위성영상을 활용한 열 환경 분포 특성과 중심지의 파악은 도시의 열 환경 개선 계획 및 관리방안을 모색하는데 필요한 중요한 기초자료로서 정부의 다양한 열환경 정책이나 계획에 우선시 되어야 할 참고자료를 제공하고자 한다.

• 한국정보통신학회논문지
• /
• 제23권3호
• /
• pp.299-304
• /
• 2019

현재 지역 주민들 간의 커뮤니티 활성화가 중요시 되고 있는 가운데 마을재생 사업, 마을 문화 활성화 사업 등이 주민 참여를 바탕으로 다양하게 추진되고 있다. 이처럼 지역사회의 주민이 주체가 되어 마을의 문제점을 제시하고 개선하는 것 중 하나가 커뮤니티 매핑이다. 이러한 커뮤니티 매핑은 주민들이 직접 마을 내 주요 이슈들을 지도화하는 과정을 통해 마을에 대한 주민들의 관심을 유도하고, 마을 계획과 정책을 결정하는데 있어 주민들의 자발적인 참여를 이끌어내는 것을 가능하게 한다. 본 연구에서는 커뮤니티 매핑을 활용해 부산 안창마을 지역 주민들의 쌍방향 소통을 위한 안전지도 애플리케이션을 개발하였다. 개발된 앱은 지역의 안전과 관련된 항목을 4가지로 분류해 지역의 현안과 문제점에 대한 정보를 지역주민이 직접 올리고 공유하는 역할을 한다. 또한 개발된 앱을 사용하여 작성된 마을의 안전 관련 현안과 문제점을 관련 행정 기관과 공유하고 개선할 수 있는 방안을 모색하는데 그 목적이 있다.

• 한국멀티미디어학회논문지
• /
• 제18권9호
• /
• pp.1008-1018
• /
• 2015

In this paper, we propose a method that constructs a saliency map in which important regions are accurately specified and the colors of the regions are less influenced by the similar surrounding colors. Our method utilizes LBP(Local Binary Pattern) histogram information to compare and analyze texture information of surrounding regions in order to reduce the effect of color information. We extract the saliency of stereoscopic images by integrating a 2D saliency map with depth information of stereoscopic images. We then measure the distance between two different sizes of the LBP histograms that are generated from pixels. The distance we measure is texture difference between the surrounding regions. We then assign a saliency value according to the distance in LBP histogram. To evaluate our experimental results, we measure the F-measure compared to ground-truth by thresholding a saliency map at 0.8. The average F-Measure is 0.65 and our experimental results show improved performance in comparison with existing other saliency map extraction methods.

• 로봇학회논문지
• /
• 제6권3호
• /
• pp.247-254
• /
• 2011

This paper presents a method of sonar grid map matching for topological place recognition. The proposed method provides an effective rotation invariant grid map matching method. A template grid map is firstly extracted for reliable grid map matching by filtering noisy data in local grid map. Using the template grid map, the rotation invariant grid map matching is performed by Ring Projection Transformation. The rotation invariant grid map matching selects candidate locations which are regarded as representative point for each node. Then, the topological place recognition is achieved by calculating matching probability based on the candidate location. The matching probability is acquired by using both rotation invariant grid map matching and the matching of distance and angle vectors. The proposed method can provide a successful matching even under rotation changes between grid maps. Moreover, the matching probability gives a reliable result for topological place recognition. The performance of the proposed method is verified by experimental results in a real home environment.

• 한국측량학회:학술대회논문집
• /
• 한국측량학회 2003년도 추계학술발표회 논문집
• /
• pp.49-54
• /
• 2003

As of date, the cadastral information which is the utility to be computerized have not been identical with local autonomous entities and relational groups each other and updated real-time, therefore the relation group or the academic circles carried out in many researches on a cadastral map matching, but the cadastral maps have not been even occurred the expansion and contraction so that the theory arrangement doesn't seem simple as to a cadastral map matching. As being take such reality into consideration, We have to be based on $\boxDr$construction ministry of the rules for continuous map$\boxUl$ for a continuous cadastral map with using PBLIS data; so the operators use Autodesk Map 5 which added applications and match the neat line by the identical scale, the different scale, the district boundary and the origin according to the judgement myself We have the purpose to minimize the problem as analyzing the accuracy between the parcel coordinates If the matched map and ones of moved map.

• Journal of Platform Technology
• /
• 제6권3호
• /
• pp.3-9
• /
• 2018

This paper describes the design and trial development of a system that supports continuous hazard mapping by local residents in their daily life. We performed an interview survey to design our system in a model traditional town in Saga Prefecture, Japan. The results show that despite continued efforts, many practical problems remain and residents feel unsafe. Considering these results, we designed and developed a unique information and communication technology-based support system that contributes to community-based disaster prevention and reduction. The continuous resident participation and posting design are the core concept for our community-based approach. Our system continues to support making a hazard map by integrating the community-based hazard information. Local residents register information (disaster types, risk level, photographs, comments, positional information) about locations that could be dangerous in a disaster. In addition, our system enables information sharing through a Web server. We expect that this information sharing will allow local hazard information for each district to be used.