In the top left corner of the map is the writing you see in the scan on the left. Here is the translation:
.....The famous "Joseon Yeojido"
.....Full map of Jeop-yeok (Joseon)
.....Less than 1,000 ri from east to west
.....3,000 from north to south
The really interesting thing about the map is that it shows an island off the east shore of Ulleungdo (鬱陵島) labeled as "Udo" (于島), which was another way of writing "Usando" (于山島). Usando was the old name for Ulleungdo's neighboring island of Jukdo (竹島), which is approximately 2.2 kilometers off Ulleungdo's east shore. That is interesting because it links this map to two other old Korean maps of Ulleungdo that labeled Ulleungdo's neighboring islands of Jukdo (竹島) and Gwaneumgdo (觀音島) as "Big Udo" (大于島) and "Small Udo" (小于島), respectively. The maps are also posted below.
The writing on the map just below Ulleungdo and "Udo" (Usando) reads, "600 ri due east" (正東六百里), which seems to have been a referrence to the distance from the Joseon capital to the east coast.
Below are two more Korean maps of Ulleungdo that show Ulleungdo with neighboring islands labeled as "Big Udo" (大于島) and "Little Udo" (小于島). "Big Udo" was referring to Ulleungdo's neighboring island of Jukdo (竹島), and "Small Udo" was referring to Ulleungdo's neighboring island of Gwaneumdo (觀音島). The fact that there were two Udo's suggests that Koreans were unsure of which of the islands was the Usando (于山島) labeled on earlier maps. The fact that all three maps refer to Ulleungdo's neighboring island or islands as "Udo" (于島), instead of Usando (于山島), suggests that the maps were probably made within a few decades of each other.
The first map just below, which you can also see HERE, is stored in Korea's Samcheok Museum. The second map is stored in the National Library of Korea. In the first map, Ulleungdo is drawn upside down, so you need to look for the two islands on the left side of the Ulleungdo. (Click twice on the maps to enlarge.)