제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제7권8호
  • /
  • Pages.656-663
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  • 2001
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

센서데이터 융합을 이용한 원주형 물체인식

Cylindrical Object Recognition using Sensor Data Fusion

  • 김동기 (충남대학교 기계설계공학과) ;
  • 윤광익 (충남대학교 기계설계공학과) ;
  • 윤지섭 (충남대학교 기계설계공학과) ;
  • 강이석 (충남대학교 기계설계공학과)
  • Kim, Dong-Gi (Dept. of Mechanical Design Engineering, Chungnam National University) ;
  • Yun, Gwang-Ik (Dept. of Mechanical Design Engineering, Chungnam National University) ;
  • Yun, Ji-Seop (Dept. of Mechanical Design Engineering, Chungnam National University) ;
  • Gang, Lee-Seok (Dept. of Mechanical Design Engineering, Chungnam National University)
  • 발행 : 2001.08.01
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초록

This paper presents a sensor fusion method to recognize a cylindrical object a CCD camera, a laser slit beam and ultrasonic sensors on a pan/tilt device. For object recognition with a vision sensor, an active light source projects a stripe pattern of light on the object surface. The 2D image data are transformed into 3D data using the geometry between the camera and the laser slit beam. The ultrasonic sensor uses an ultrasonic transducer array mounted in horizontal direction on the pan/tilt device. The time of flight is estimated by finding the maximum correlation between the received ultrasonic pulse and a set of stored templates - also called a matched filter. The distance of flight is calculated by simply multiplying the time of flight by the speed of sound and the maximum amplitude of the filtered signal is used to determine the face angle to the object. To determine the position and the radius of cylindrical objects, we use a statistical sensor fusion. Experimental results show that the fused data increase the reliability for the object recognition.

키워드

참고문헌

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