• ETRI Journal
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• v.36 no.6
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• pp.913-923
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• 2014

This paper proposes a global mapping algorithm for multiple robots from an omnidirectional-vision simultaneous localization and mapping (SLAM) approach based on an object extraction method using Lucas-Kanade optical flow motion detection and images obtained through fisheye lenses mounted on robots. The multi-robot mapping algorithm draws a global map by using map data obtained from all of the individual robots. Global mapping takes a long time to process because it exchanges map data from individual robots while searching all areas. An omnidirectional image sensor has many advantages for object detection and mapping because it can measure all information around a robot simultaneously. The process calculations of the correction algorithm are improved over existing methods by correcting only the object's feature points. The proposed algorithm has two steps: first, a local map is created based on an omnidirectional-vision SLAM approach for individual robots. Second, a global map is generated by merging individual maps from multiple robots. The reliability of the proposed mapping algorithm is verified through a comparison of maps based on the proposed algorithm and real maps.

• Communications for Statistical Applications and Methods
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• v.19 no.4
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• pp.619-628
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• 2012

Noise reduction is an important issue in the field of image processing because image noise lowers the quality of the original pure image. The basic difficulty is that the noise and the signal are not easily distinguished. Simple smoothing is the most basic and important procedure to effectively remove the noise; however, the weakness is that the feature area is simultaneously blurred. In this research, we use ways to measure the degree of noise with respect to the degree of image features and propose a Bayesian noise reduction method based on MAP (maximum a posteriori). Simulation results show that the proposed adaptive noise reduction algorithm using Bayesian MAP provides good performance regardless of the level of noise variance.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.12
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• pp.659-666
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• 2000

A stereo matching has been an important tool for reconstructing three dimensional terrain. By using stereo matching technique, DEM(Digital Elevaton Map) can be generated by the disparity from a reference image to a target image. Generally disparity map can be evaluated by matching the reference image to the target image and if the role of the reference and the target are interchanged, a different DEM can be obtained. In this paper, we propose a new fusion technique to estimate the optimal DEM by eliminating the false DEM due to occlusion. To detect the false DEM, we utilize two measure of accuracy: self-consistency and cross-correlation score. We test the effectiveness of the proposed methods with a quantitative analysis using simulated images. Experimental result indicate that the proposed methods show 24.4% and 33.1% improvement over either DEM.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.491-495
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• 1993

In this paper, we present a methodology to model an indoor environment of a mobile robot using fuzzy numbers and to make a global map of the robot environment using graph theory. We describe any geometric primitive of robot environment as a parameter vector in parameter space and represent the ill-known values of the prameterized geometric primitive by means of fuzzy numbers restricted to appropriate membership functions. Also we describe the spatial relations between geometric prinitives using graph theory for local maps. For making the global map of the mobile robot environment, the correspondence problem between local maps is solved using a fuzzy similarity measure and a Bipartite graph matching technique.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.567-569
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• 2006

This study proposes the method to make a map of moving environment area and passed area by sensor using for recognizing environment or avoiding obstacle. We win develop an efficient algorithm to use sensors and get the data by the user friendly system. Through this system, we win study the way to know of the driving environment of moving robot on the long distance point. To this, we use only one ultra-sonic sensor with a servo motor which rotates 180 degree and loads an ultra-sonic sensor. A sensor can measure 1m${\sim}$8m range and a servo motor can distinguish 15 degree by 12 divide of 180 degree. By this feature of operating system, the robot which has these sensor module detects around of area and moves another point. In this way, users gather the data of detecting distance and change the data to X-Y coordinates. And users derive a map from these accumulate data.

• Asian-Australasian Journal of Animal Sciences
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• v.12 no.7
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• pp.1129-1134
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• 1999

The rapid development of the sheep genetic linkage map over the last five years has given us the ability to follow the inheritance of chromosomal regions. Initially this powerful resource was used to find markers linked to monogenic traits but there is now increasing interest in using the genetic linkage map to define the complex of genes that control multigenic production traits. Of particular interest are those production traits that are difficult to measure and select for using classical quantitative genetic approaches. These include resistance to disease where a disease challenge (necessary for selection) poses too much risk to valuable stud animals and meat and carcass qualities which can be measured only after the animal has been slaughtered. The goal for the new millennium will be to fully characterise the genetic basis of multigenic production traits. The genetic linkage map is a vital tool required to achieve this.

• Proceedings of the KSRS Conference
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• 2008.10a
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• pp.41-44
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• 2008

In this paper, major species of tree were discriminated in compartment by using LiDAR data and optic imagery. This is an important work in forest field. A current digital stock map has created the aerial photo and collecting survey data. Unlike high resolution imagery, LiDAR data is not influenced by topographic effects since it is an active sensory system. LiDAR system can measure three dimension information of individual tree. And the main methods of this study were to extract reliable the individual tree and analysis techniques to facilitate the used LiDAR data for calculating tree crown 2D parameter. We should estimate the forest inventory for calculating parameter. 2D parameter has need of area, perimeter, diameter, height, crown shape, etc. Eventually, major species of tree were determined the tree parameters, compared a digital stock map.

• Journal of Digital Contents Society
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• v.6 no.3
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• pp.157-162
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• 2005

In this paper we propose real-time cocersion methods that can convert into stereoscopic image using depth map that is formed by motion detection extracted from 2-D moving image and region segmentation separated from image. Depth map which represents depth information of image and the proposed absolute parallax image are used as the measure of qualitative evaluation. We have compared depth information, parallax processing, and segmentation between objects with different depth for proposed and conventional method. As a result, we have confirmed the proposed method can offer realistic stereoscopic effect regardless of direction and velocity of moving object for a moving image.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.292-300
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• 2011

Global positioning system (GPS) is widely used to measure the position of a vehicle. However, the accuracy of the GPS can be severely affected by surrounding environmental conditions. To deal with this problem, the GPS and odometry data can be combined using an extended Kalman filter. For stable navigation of an outdoor mobile robot using the GPS, this paper proposes two methods to evaluate the reliability of the GPS data. The first method is to calculate the standard deviation of the GPS data and reflect it to deal with the uncertainty of the GPS data. The second method is to match the GPS data to the traversability map which can be obtained by classifying outdoor terrain data. By matching of the GPS data with the traversability map, we can determine whether to use the GPS data or not. The experimental results show that the proposed methods can enhance the performance of the GPS-based outdoor localization.

• Journal of Environmental Science International
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• v.20 no.10
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• pp.1213-1220
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• 2011

This study aims at choosing indicators to measure the effect of utilizing biotop map, and analyzing its effect by an indicator from the perspective of performer. The Primary performance indicators are made through specialist survey using SMART. As a result, three indicators are chosen: "Discussion of the period of an environmental effects evaluation(reduced effect)", "Plan and execution of environment and ecology plan in an urban development site", "Minimizing ecological damage in an urban development." The result in each indicator is as follows. The indicator of discussion of the period of an environmental effects evaluation(reduced effect), the average reduction rate in statistically meaningful level reduced 6.08% and 11.64% respectively in 2004-2005. In this period, environment information system was established and the reduction effect is shown in this period by reinforcing environment effect estimation using biotop map. As to the indicator of utilizing biotop map in an urban development site, the Seongnam P site case shows that biotop map was used when they set up an development plan. In case of minimizing ecological damage in an urban development, the Gwangjingu G-dong case shows that it was used to appoint preservation sit, and mediate development restrict area. Accordingly, the biotop map utilizing effect is confirmed through core performance indicators and verification of the indicators using SMART. The further research is encouraged to find evaluate indicators and verify the effect quantitatively to increase the use of biotop map.