• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.205-216
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• 2016

The localization of the robot is one of the most important factors of navigating mobile robots. The use of featured information of landmarks is one approach to estimate the location of the robot. This approach can be classified into two categories: the natural-landmark-based and artificial-landmark-based approach. Natural landmarks are suitable for any environment, but they may not be sufficient for localization in the less featured or dynamic environment. On the other hand, artificial landmarks may generate shaded areas due to space constraints. In order to improve these disadvantages, this paper presents a novel development of the localization system by using artificial and natural-landmarks-based approach on a topological map. The proposed localization system can recognize far or near landmarks without any distortion by using landmark tracking system based on top-view image transform. The camera is rotated by distance of landmark. The experiment shows a result of performing position recognition without shading section by applying the proposed system with a small number of artificial landmarks in the mobile robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.306-311
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• 2003

This paper presents a novel localization paradigm for mobile robots based on artificial and natural landmarks. A model-based object recognition method detects natural landmarks and conducts the global and topological localization. In addition, a metric localization method using artificial landmarks is fused to complement the deficiency of topology map and guide to action behavior. The recognition algorithm uses a modified local Zernike moments and a probabilistic voting method for the robust detection of objects in cluttered indoor environments. An artificial landmark is designed to have a three-dimensional multi-colored structure and the projection distortion of the structure encodes the distance and viewing direction of the robot. We demonstrate the feasibility of the proposed system through real world experiments using a mobile robot, KASIRI-III.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.4
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• pp.379-384
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• 2013

We propose a new global positioning method for the indoor mobile robots. The multiple indoor lights fixed in ceiling are used as the landmarks of positioning system. The ceiling images are acquired by the fisheye lens camera mounted on the moving robot. The position and orientation of the lights are extracted by binarization and labeling techniques. Also the boundary lines between ceiling and walls are extracted to identify the order of each light. The robot position is then calculated from the extracted position and known position of the lights. The proposed system can increase the accuracy and reduce the computation time comparing with the other positioning methods using natural landmark. Experimental results are presented to show the performance of the method.

• KIPS Transactions on Software and Data Engineering
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• v.8 no.9
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• pp.379-390
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• 2019

In this paper, we propose a novel deep neural network model for Vision-and-Language Navigation (VLN) named LVLN (Landmark-based VLN). In addition to both visual features extracted from input images and linguistic features extracted from the natural language instructions, this model makes use of information about places and landmark objects detected from images. The model also applies a context-based attention mechanism in order to associate each entity mentioned in the instruction, the corresponding region of interest (ROI) in the image, and the corresponding place and landmark object detected from the image with each other. Moreover, in order to improve the success rate of arriving the target goal, the model adopts a progress monitor module for checking substantial approach to the target goal. Conducting experiments with the Matterport3D simulator and the Room-to-Room (R2R) benchmark dataset, we demonstrate high performance of the proposed model.

• Korean Institute of Interior Design Journal
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• v.24 no.6
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• pp.30-37
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• 2015

This study has the purpose to investigate the landscape plans focused on the public sector housing complexes in the Seoul Metropolitan Area in the 2000s. The targeted subjects of this study are 24 districts conducted by the Corporation, and the spatial extent is limited to Seoul metropolitan area. The scope of the research is limited to the public sector, because this sector has been conducted preferentially for public needs rather than the development profit, and has positively reflected the will "pre plan - post development". In view of the study methodologies, this study examined the transition process in Korea housing complex and analyzed the design reports to extract the key planning concepts and planning methods of landscape planning. The main concepts of landscape planning analyzed in this study were urban landscape, natural landscape, streetscape, architectural landscape, axis for viewing, landmark, skyline and landscape by areas. The key planning methods of landscape planning were landmark, which is a point landscape element, axis for viewing and skyline, which are linear landscape elements, landscape by areas which is an area landscape element, and finally complex landscape, walking landscape and nightscape, which are three-dimensional landscape elements.

• Journal of Environmental Science International
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• v.11 no.4
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• pp.271-279
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• 2002

The purpose of this study is to focus on the townscape of Daegu based on the urban characteristics of the landscape cognition and images captured by citizens. The analysis was performed by the data obtained from questionnaires and interviews. This study methods were deals the cognition characteristics, landmark landscape, visual preference landscape, image and satisfaction. The results are summarized as follows: 1. The orders of cognition landscapes were estimated Apple＞ Weather＞ Texture＞ Mt.Palgong＞ Daegu Tower＞ Pretty Girl＞ Mt. Apsan＞ Dalsung Park＞ Conservative＞ Dongsung Road, etc. That is constructed Nonphysical elements(62.0%) and Physical elements(38.0%) 2. The orders of representative landscape(Landmark) in city were estimated Mt.Palgong＞ Daegu Tower＞ Gat Rock＞ Mt.Apsan＞ Dalsung Park, etc. As a whole middle and old people(over 30gen) preferenced as a history landscape or natural landscape, but youth people(10-20gen) preferenced as visible and interesting artifical places. 3. While the positive attitudes for the image of city were traditional(3.30), intimacy(3.58), and rest(2.90), the negative attitudes were unnewly(2.34), closing(2.37) and narrow(2.40). Also total satisfaction for that was estimated 5.51. 4. Psychological factors, related to the satisfaction of the image of city were composed of four factors, individuality character, pleasure character, amenity character, formation character. And the presumption formula of satisfaction was: Satisfaction = 5.477 ＋ 0.752(Individuality) ＋ 0.470(Pleasure) ＋ 0.413(Amenity) ＋ 0.241(Formation).

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.37.1-37
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• 2002

Localization is one of the most important functions for the mobile robot navigating in the unstructured environment. Most of previous localization schemes estimate current position and pose of mobile robot by applying various localization algorithms with the information obtained from sensors which are set on the mobile robot, or by recognizing an artificial landmark attached on the wall, or objects of the environment as natural landmark in the indoor environment. Several drawbacks about them have been brought up. To compensate the drawbacks, a new localization method that estimates the global position of the mobile robot by using a camera set on ceiling in the corridor is proposed. This sch...

• Journal of the Korean Institute of Landscape Architecture
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• v.35 no.2 s.121
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• pp.71-80
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• 2007

Korea began preserving and managing natural monuments in 1933 under Japanese Colonization, but North Korea and South Korea were forced to establish separate natural monument management policies because of the division after the Korean Independence. The purpose of this study is to compare and analyze the natural monument management policies of both south and North Korea between 1933 and 2005 to introduce new policies for Korea unification. The following are the results: First, South Korea manages every type of cultural asset, including natural monuments, through the 'Cultural Heritage Protection Act,' whereas North Korea managing its cultural assets through the 'Cultural Relics Protection Act' and the 'Landmark/Natural Monument Protection Act.' Second, South Korea preserves and utilizes natural monuments for the purpose of promoting the cultural experience of Korean people and contributing to the development of world culture, whereas North Korea uses its natural monuments to promote the superiority of socialism and protect its ruling power. Third, North and South Korea have similar classification systems for animals, plants, and geology, but North Korea classifies geography as one of its natural monuments. Unlike South Korea, North Korea also designates imported animals and plants not only for the preservation and research of genetic resources, but also for their value as economic resources. Fourth, North Korea authorizes the Cabinet to designate and cancel natural monuments, whereas South Korea designates and cancels natural monuments by the Cultural Heritage Administration through the deliberation of a Cultural Heritage Committee. Both Koreas' central administrations establish policies and their local governments carry them out, while their management systems are quite different. In conclusion, it is important to establish specified laws for the conservation of natural heritages and clarified standards of designation in order to improve the preservation and management system and to sustain the diversity of natural preservation. Moreover it is also necessary to discover resources in various fields, designate protection zones, and preserve imported trees. By doing so, we shall improve South Korea's natural monument management policies and ultimately enhance national homogeneity in preparation for the reunification of the Koreas in the future.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.13 no.2
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• pp.133-139
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• 2013

This paper proposes a vision-based indoor localization method for autonomous vehicles. A single upward-facing digital camera was mounted on an autonomous vehicle and used as a vision sensor to identify artificial landmarks and any natural corner features. An interest point detector was used to find the natural features. Using an optical flow detection algorithm, information related to the direction and vehicle translation was defined. This information was used to track the vehicle movements. Random noise related to uneven light disrupted the calculation of the vehicle translation. Thus, to estimate the vehicle translation, a Kalman filter was used to calculate the vehicle position. These algorithms were tested on a vehicle in a real environment. The image processing method could recognize the landmarks precisely, while the Kalman filter algorithm could estimate the vehicle's position accurately. The experimental results confirmed that the proposed approaches can be implemented in practical situations.

• Korean Institute of Interior Design Journal
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• v.22 no.2
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• pp.157-166
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• 2013

The underground space of urban entertainment center can do various roles for urban development. Especially, the design of underground space using natural elements is necessary to sustainable development of facilities. The purpose of this study is to propose the elements, characteristics and application around interior environmental design using natural elements in underground space of urban entertainment center. The research methods of this study are research references, survey and field-study. This study can be concluded as follows; First, the factors of interior environmental design using natural elements in underground space of urban entertainment center are 'landmarks expression of natural elements', 'introduction and planning of daylighting', 'planning of materials using natural images', 'planning of ecological footpath' and 'planning of energy recycling'. Second, pedestrian space and openspace considering regional context are necessary. Third, introduction of daylight and design of artificial lighting in underground space are needed to making eco-friendly environment. Fourth, landmark design using various natural elements in underground space is needed to provide eco-friendly amenity. Fifth, the interior environmental design using natural elements is needed to community space in underground space. Sixth, eco-friendly pedestrian space in underground space is necessary. Seventh, interior environmental design using natural elements is needed to the entrance of underground space of urban entertainment center.