• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.28 no.5
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• pp.531-537
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• 2010

Real-time Aerial Monitoring System performs the rapid mapping in an emergency situation so that the geoinformation could be constructed in near real time. In this system, the position and attitude information from GPS/INS integration algorithm is used to perform the aerial triangulation(AT) without GCPs. Therefore, if we obtain Exterior Orientation(EO) estimates from AT sequentially, EO are used as the measurements in the Kalman filter. In this study, we simulate the GPS/IMS/Image data for an UAV-based aerial monitoring system and compare the GPS/INS/AT with and without from AT. Comparative analysis showed that result from the GPS/INS/AT with EO update is more accurate than without the update. However, when the vehicle turns, the position error significantly increases which need more analysis in the future.

• Journal of the Korea Society of Computer and Information
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• v.20 no.5
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• pp.1-12
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• 2015

NAND flash memory has being used for storage systems widely, because it has good features which are low-price, low-power and fast access speed. However, NAND flash memory has an in-place update problem, and therefore it needs FTL(flash translation layer) to run for applications based on hard disk storage. The FTL includes complex functions, such as address mapping, garbage collection, wear leveling and so on. Futhermore, implementation of the FTL on low-power embedded systems is difficult due to its memory requirements and operation overhead. Accordingly, many index data structures for NAND flash memory have being studied for the embedded systems. Overall performances of the index data structures are enhanced by a decreasing of page write counts, whereas it has increased page read counts, as a side effect. Therefore, we propose an index management method using a page mapping log table in $B^+$-Tree based on NAND flash memory to decrease page write counts and not to increase page read counts. The page mapping log table registers page address information of changed index node and then it is exploited when retrieving records. In our experiment, the proposed method reduces the page read counts about 61% at maximum and the page write counts about 31% at maximum, compared to the related studies of index data structures.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.26 no.1
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• pp.63-71
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• 2008

Recently according to supplying high resolution satellite imagery, we take much interest in the update and the revision of digital map and thematic map based on the satellite images. This study analyzed the modeling accuracy for QuickBird imagery and produced the digital map on a scale 1 to 5000 by way of showing an example. find an exhibition digital map was analyzed the positioning accuracy for the presentation of the possibility and the utility in the production and the revision to the digital map using QuickBird imagery. In order to analyze accuracies of constructed data, the digital topographic maps of 1:5000 scale which were produced by Korea National Geographic information Institute(NGI) were used. As a result, the RMSE was calculated at ${\pm}2.207$ m and 2.39 m in x and y direction respectively and it is within the permissible accuracy required for mapping on a scale of 1 to 5000 on the mapping rule notified by the National Geographic Information Institute. It is expected that the results of this study will be fully used in the field of large scale digital mapping and be utilized as basic information in applied field of the production and the revision of digital map.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.39 no.6
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• pp.587-598
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• 2021

This study aims to develop a multi-camera based MMS (Mobile Mapping System) technology for building a HD (High Definition) map for autonomous driving and for quick update. To replace expensive lidar sensors and reduce long processing times, we intend to develop a low-cost and efficient MMS by applying multiple cameras and real-time data pre-processing. To this end, multi-camera storage technology development, multi-camera time synchronization technology development, and MMS prototype development were performed. We developed a storage module for real-time JPG compression of high-speed images acquired from multiple cameras, and developed an event signal and GNSS (Global Navigation Satellite System) time server-based synchronization method to record the exposure time multiple images taken in real time. And based on the requirements of each sector, MMS was designed and prototypes were produced. Finally, to verify the performance of the manufactured multi-camera-based MMS, data were acquired from an actual 1,000 km road and quantitative evaluation was performed. As a result of the evaluation, the time synchronization performance was less than 1/1000 second, and the position accuracy of the point cloud obtained through SFM (Structure from Motion) image processing was around 5 cm. Through the evaluation results, it was found that the multi-camera based MMS technology developed in this study showed the performance that satisfies the criteria for building a HD map.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.8
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• pp.667-675
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• 2013

This paper presents vision-based techniques for underwater landmark detection, map-based localization, and SLAM (Simultaneous Localization and Mapping) in structured underwater environments. A variety of underwater tasks require an underwater robot to be able to successfully perform autonomous navigation, but the available sensors for accurate localization are limited. A vision sensor among the available sensors is very useful for performing short range tasks, in spite of harsh underwater conditions including low visibility, noise, and large areas of featureless topography. To overcome these problems and to a utilize vision sensor for underwater localization, we propose a novel vision-based object detection technique to be applied to MCL (Monte Carlo Localization) and EKF (Extended Kalman Filter)-based SLAM algorithms. In the image processing step, a weighted correlation coefficient-based template matching and color-based image segmentation method are proposed to improve the conventional approach. In the localization step, in order to apply the landmark detection results to MCL and EKF-SLAM, dead-reckoning information and landmark detection results are used for prediction and update phases, respectively. The performance of the proposed technique is evaluated by experiments with an underwater robot platform in an indoor water tank and the results are discussed.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.1
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• pp.29-38
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• 2014

UAV(Unmanned Aerial vehicle) could be effectively applied in a field of land monitoring for analyzing disaster area and mapping, because it can quickly acquire image data at low costs. For this reason, we reviewed the legal system related to mapping, and proposed suggestions for improving in legal system, due to introducing the UAV to Korean land-monitoring through this paper. Also, we evaluated spatial and time accuracy of the digital map, which are generated from UAV images that were taken for occasional map updates and disaster detections. As a result, the mean error is about 10m if only GPS/INS data used, while using GCP(Ground Control Points) it is about 10cm. Therefore, we conclude that the UAV could be effective method in korea land-monitoring field.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.344-346
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• 2004

IKONOS 1m satellite imagery is particularly well suited for 3-D feature extraction and 1 :5,000 scale topographic mapping. Because the image line and sample calculated by given RPCs have the error of more than 11m, in order to be able to perform feature extraction and topographic mapping, rational polynomial coefficients(RPCs) camera model that are derived from the very complex IKONOS sensor model to describe the object-image geometry must be refined by several Ground Control Points(GCPs). This paper presents a quantitative evaluation of the geometric accuracy that can be achieved with IKONOS imagery by refining the offset and scaling factors of RPCs using several GCPs. If only two GCPs are available, the offsets and scale factors of image line and sample are updated. If we have more than three GCPs, four parameters of the offsets and scale factors of image line and sample are refined first, and then six parameters of the offsets and scale factors of latitude, longitude and height are updated. The stereo images acquired by IKONOS satellite are tested using six ground points. First, the RPCs model was refined using 2 GCPs and 4 check points acquired by GPS. The results from IKONOS stereo images are reported and these show that the RMSE of check point acquired from left images and right are 1.021m and 1.447m. And then we update the RPCs model using 4 GCPs and 2 check points. The RMSE of geometric accuracy is 0.621 m in left image and 0.816m in right image.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.4
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• pp.675-683
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• 1992

Mapping and navigation system based on certainty grids for an autonomous mobile robt operating in unknown and unstructured environment is described. The system uses sonar range data to build a map of robot's surroundings. The range data from sonar sensor are integrated into a probability map that is composed of two dimensional grids which contain the probabilities of being occupied by the objects in the environment. A Bayesian model is used to estimate the uncertainty of the sensor information and to update the existing probability map with new range data. The resulting two dimensional map is used for path planning and navigation. In this paper, the Bayesian updating model which was successfully simulated in our earlier work is implemented on a mobile robot and is shown to be valid in the real world through experiment. This paper also proposes a technique for reducing for reducing specular reflection problem of sonar system which seriousely deteriorates the map quality, and a new path planning method based on weighted distance, which enables the robot to efficiently navigate in an unknown area.

• Journal of Korean Society for Geospatial Information Science
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• v.21 no.3
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• pp.55-62
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• 2013

This paper aims to detect Speed Bump by using Omni-directional Camera and to suggest Real-time update scheme of Speed Bump through Vision Based Approach. In order to detect Speed Bump from sequence of camera images, noise should be removed as well as spot estimated as shape and pattern for speed bump should be detected first. Now that speed bump has a regular form of white and yellow area, we extracted speed bump on the road by applying erosion and dilation morphological operations and by using the HSV color model. By collecting huge panoramic images from the camera, we are able to detect the target object and to calculate the distance through GPS log data. Last but not least, we evaluated accuracy of obtained result and detection algorithm by implementing SLAMS (Simultaneous Localization and Mapping system).

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.25 no.4
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• pp.347-354
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• 2007

Since large portal service providers started web services for 3D city models around the world using spatial imagery, the competition has been getting intense to provide the models with the higher quality and accuracy. The building models are the most in number among the 3D city model objects, and it takes much time and money to create realistic model due to various shapes and visual appearances of building object. The aforementioned problem is the most significant limitation for the service and the update of the 3D city model of the large area. This study proposed a method of generating realistic 3D building models with quick and economical texture mapping using multiple spatial imagery such as aerial photos or satellite images after reconstructed geometric models of buildings from building layers in digital maps. Based on the experimental results, the suggested method has effectiveness for the generation of the 3D building models using various air-borne imagery and satellite imagery quickly and economically.