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

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

  1. Omur Bozma and Roman Kuc, 1991, 'Building a sonar map in a specular environment using a single mobile sensor,' IEEE Trans. On Pattern Analysis and Machine Intelligence, December, vol. 13, no. 12 https://doi.org/10.1109/34.107000
  2. 한영준, 한헌수, '2쌍의 초음파센서를 이용한 측정면의 위치측정 및 종류 분류기법,' 제어.자동화.시스템공학 논문지, 제4권, 제6호, pp. 747-752, 1998
  3. 장동식, 이만희, 부창완, 'Line Scan Camera를 이용한 검사 시스템에서의 새로운 영상 처리 알고리즘,' 제어.자동화.시스템공학 논문지, 제3권, 제4호, pp. 406-414, 1997
  4. 차영엽, 권대갑, '레이저 슬릿을 사용하는 능동거리 센서의 정확한 3D 데이터 추출 알고리즘,' 한국정밀공학회지, 제12권, 제8호, pp. 73-85, 1995
  5. Lindsay Kleeman and Roman Kuc, 'Mobile robot sonar for target localization and classification,' The International Journal of Robotics and Automation, vol. 14, no. 4, pp. 295-318, 1995 https://doi.org/10.1177/027836499501400401
  6. Ren C. Luo, Min-Hsiung Lin and Ralph S. Scherp, 'Dynamic multi-sensor data fusion system for intelligent robots,' IEEE Journal of Robotics and Automation, vol. 4, no. 4, pp. 386-396, 1988 https://doi.org/10.1109/56.802
  7. L. F. Pau, 'Behavioral knowledge in Sensor/Data fusion systems,' Journal of Robotic Systems, vol. 7, no. 3, pp. 295-308, 1990
  8. Ren C. Luo and Michael G. Kay, 'Multisensor integration and fusion in intelligent systems,' IEEE Trans on Systems, Man and Cybernetics, vol. 19, no. 5, pp. 901-931, 1989 https://doi.org/10.1109/21.44007
  9. M. A. Abidi and R. C. Gonzalez, 'The use of multisensor data for robotic application,' IEEE Trans., Robotics and Automation, vol. 6, no. 2, pp. 159-177, 1990 https://doi.org/10.1109/70.54732
  10. Roger Y. Tsai, 'A versatile camera calibration technique fo high-accuracy 3D machine vision metrology using Off-the-Shelf TV cameras and lenses,' IEEE Journal of Robotics and Automation, vol. RA-3, no. 4, pp. 323-344, 1987