• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.811-816
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• 2016

In light of recently developed 3D printers for rapid prototyping, there is increasing attention on the 3D scanner as a 3D data acquisition system for an existing object. This paper presents a prototypical 3D scanner based on a striped laser light image. In order to solve the problem of shadowy areas, the proposed 3D scanner has two cameras with one laser light source. By using a horizontal rotation table and a rotational arm rotating about the latitudinal axis, the scanner is able to scan in all directions. To remove an additional optical filter for laser light pixel extraction of an image, we have adopted a differential image method with laser light modulation. Experimental results show that the scanner's 3D data acquisition performance exhibited less than 0.2 mm of measurement error. Therefore, this scanner has proven that it is possible to reconstruct an object's 3D surface from point cloud data using a 3D scanner, enabling reproduction of the object using a commercially available 3D printer.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.8
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• pp.1246-1252
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• 2001

Reverse engineering has been widely used for the shape reconstruction of an object without CAD data and the measurement of clay or wood models for the development of new products. To generate a surface from measured points by a laser scanner, typical steps include the scanning of a clay or wood model and the generation of manufacturing data like STL file. A laser scanner has a great potential to get geometrical data of a model for its fast measuring speed and higher precision. The data from a laser scanner are composed of many line stripes of points. A new approach to remove point data with Delaunay triangulation is introduced to deal with problems during reverse engineering process. This approach can be used to reduce a number of measuring data from laser scanner within tolerance, thus it can avoid the time for handling point data during modelling process and the time for verifying and slicing STL model during RP process.

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
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• 2008.06a
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• pp.322-324
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• 2008

재난재해 등 긴급 상황이 발생했을 때 신속한 대응 체계 수립을 위해 비 접근 및 난접근 지대, 목표물 감시대상지역에 대한 공간정보를 신속하게 취득할 수 있는 실시간 공중모니터링 체계의 구축이 시급한 실정이다. 이에 본 연구에서는 긴급한 재난 상황과 혹은 이와 유사한 여러 상황에 신속하고 유연하게 운용될 수 있는 무인헬기 기반의 실시간 공중 모니터링 체계에 적용할 멀티 센서 시스템의 설계를 목표로 한다. 이를 위해 먼저 실시간 공중모니터링 임무 및 운용 시나리오를 크게 4가지로 설정하고 이에 적합한 디지털 카메라, 레이저 스캐너, GPS/IMU 및 무인헬기 플랫폼의 요구사항을 각각 도출하였다. 또한, 기술 동향 및 규격 조사결과를 바탕으로 도출된 요구사항에 가장 적합한 각각의 센서 및 플랫폼을 선정하였다. 마지막으로 시스템 설계의 최적화를 위하여 시뮬레이션을 통해 설정된 임무에 부합하는 품질의 공간정보 성과물이 선정된 멀티센서 시스템으로부터 취득 가능한가를 검증하였다. 본 연구를 통해 소형무인헬기기반의 멀티 센서시스템에 대한 최적 설계의 방법론을 정립할 수 있었고, 향후 설계의 결과는 임무로부터 도출된 요구사항에 최적화된 맞춤형 시스템 구축에 적용들 예정이다.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.634-640
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• 2015

This paper proposes a novel three-dimensional mapping algorithm in Omni-Directional Vision SLAM based on a fisheye image and laser scanner data. The performance of SLAM has been improved by various estimation methods, sensors with multiple functions, or sensor fusion. Conventional 3D SLAM approaches which mainly employed RGB-D cameras to obtain depth information are not suitable for mobile robot applications because RGB-D camera system with multiple cameras have a greater size and slow processing time for the calculation of the depth information for omni-directional images. In this paper, we used a fisheye camera installed facing downwards and a two-dimensional laser scanner separate from the camera at a constant distance. We calculated fusion points from the plane coordinates of obstacles obtained by the information of the two-dimensional laser scanner and the outline of obstacles obtained by the omni-directional image sensor that can acquire surround view at the same time. The effectiveness of the proposed method is confirmed through comparison between maps obtained using the proposed algorithm and real maps.

• Proceedings of the Korea Water Resources Association Conference
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• 2018.05a
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• pp.295-295
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• 2018

본 연구는 보 상류 하상경사 변화에 따른 보 하류부의 세굴 문제점 개선을 위해 하상경사에 대한 세굴영향을 분석하기 위한 실험연구이다. 세굴실험은 상류 하상경사 변화에 대해 보 하류부의 세굴변화를 중심으로 세굴영향을 검토하였다. 본 실험은 상류 하상경사 변화에 대한 세굴영향을 분석하기 위한 것으로 총 6개 하상경사에 대해 국부세굴 및 퇴적경향을 비교분석하였다. 보의 높이 및 물받이 길이는 0.3 m로 설치하였고, 실험 단위폭당 유량은 $0.117m^3/s/m$로 모든 케이스에 동일하게 적용하여 수행하였다. 보를 통과하는 고속사류로 인한 국부세굴의 영향분석을 위해 광대역 레이저 스캐너(RIEGL LMS-Z390)를 이용하여 세 퇴적량을 측정 및 분석하였다. 연구결과, 상류 하상경사 변화에 따른 보 하류부 세굴 특성 분석 결과 상류부의 하상경사가 급해질수록 세굴길이 및 세굴심도의 값은 크게 변화하는 것을 확인하였다. 이는 하상경사 변화에 따라 수류의 총에너지 경사가 급하게 변화하게 되고 따라서 보 하류부의 소류력 증가에 기인한 것으로 판단된다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.10a
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• pp.208-210
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• 2014

IOT(Internet of Things) through Radio Frequency Identification (RFID), Wireless Sensors, Global Positioning Systems, Laser Scanners and other information sensing device, according to the agreed protocol keep anything connected to the Internet for information exchange and communication. It's a network what in order to achieve intelligent identify, locate, track, monitor and manage. With the development of IOT technology, data growth will explode once again on the existing basis, which gives data management enormous challenges. This paper described characteristics of data in IOT and analysis existing data management technologies, then proposed a data management framework to conduct the research on the data management of IOT.

• Journal of Drive and Control
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• v.16 no.2
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• pp.22-29
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• 2019

This study presented a model predictive tracking control algorithm of autonomous truck based on object state estimation using extended Kalman filter. To design the model, the 1-layer laser scanner was used to estimate position and velocity of the object using extended Kalman filter. Based on these estimations, the desired linear path for object tracking was computed. The lateral and yaw angle errors were computed using the computed linear path and relative positions of the truck. The computed errors were used in the model predictive control algorithm to compute the optimal steering angle for object tracking. The performance evaluation was conducted on Matlab/Simulink environments using planar truck model and actual point data obtained from laser scanner. The evaluation results showed that the tracking control algorithm developed in this study can track the object reasonably based on the model predictive control algorithm based on the estimated states.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.05a
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• pp.353-354
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• 2021

In this study, in order to overcome the limitations of the particle size analysis method using a scanner, a microscope, or a laser, and to reduce the cost, a high-quality sampling of micro minerals is performed using an ultra-high-pixel DSLR camera and a MACRO lens. Using this, digital photos taken of standard mineral particles are analyzed to distinguish the size and shape of mineral particles at the level of grain of sand (a few mm ~ 0.063 mm). In addition, various photographing techniques for the production of three-dimensional images of mineral particles were sought, and an attempt was made to produce learning materials and images for mineral classification.

• Korean Journal of Optics and Photonics
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• v.22 no.1
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• pp.46-52
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• 2011

A confocal microscope was developed utilizing a scanning sample stage based on a home-built double-compound flexure guide. A scanning sample stage with nano-scale resolution consisted of a double leaf spring based flexure, a displacement amplifying lever, a Piezo-electric Transducer(PZT) actuator and capacitance sensors. The performance of the two-axis stage was analyzed using a commercial finite element method program prior to the implementation. A single line laser was employed as the light source along with the Photo Multiplier Tube(PMT) that served as the detector. The performance of the developed confocal microscope was evaluated with a mouse ear skin imaging test. The designed scanning stage enabled us to build the confocal microscope without the two optical scanning mirror modules that are essential in the conventional laser scanning confocal microscope. The elimination of the scanning mirror modules makes the optical design of the confocal microscope simpler and more compact than the conventional system.

• Korean Journal of Remote Sensing
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• v.19 no.4
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• pp.307-317
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• 2003

This paper presents an algorithm that automatically extracts buildings among many different features on the earth surface by fusing LIDAR data with panchromatic aerial images. The proposed algorithm consists of three stages such as point level process, polygon level process, parameter space level process. At the first stage, we eliminate gross errors and apply a local maxima filter to detect building candidate points from the raw laser scanning data. After then, a grouping procedure is performed for segmenting raw LIDAR data and the segmented LIDAR data is polygonized by the encasing polygon algorithm developed in the research. At the second stage, we eliminate non-building polygons using several constraints such as area and circularity. At the last stage, all the polygons generated at the second stage are projected onto the aerial stereo images through collinearity condition equations. Finally, we fuse the projected encasing polygons with edges detected by image processing for refining the building segments. The experimental results showed that the RMSEs of building corners in X, Y and Z were 8.1cm, 24.7cm, 35.9cm, respectively.