• 항공우주기술
• /
• 제11권2호
• /
• pp.140-148
• /
• 2012

자율 주행을 위해 주행 지도, 위치 추적 및 목적지까지의 최단 경로 설정 연구가 필요하다. 특히 실내에서는 GPS 신호를 수신 받을 수 없기 때문에 이미지 프로세싱과 같은 방법을 통해 현재 위치를 인식하고 3차원 지도를 생성해야 한다. 본 논문에서는 Depth 카메라인 키넥트를 이용하여 3차원 지도를 생성하고, 일반 카메라로 촬영한 2차원 이미지를 이용하여 3차원 지도에서 현재 위치를 파악하는 방법에 대해 설명한다. 그리고 지도에서 장애물을 확인하고 단순화하는 방법에 대해서도 설명한다.

• 제어로봇시스템학회논문지
• /
• 제22권9호
• /
• pp.745-752
• /
• 2016

We suggest an efficient Simultaneous Localization and 3D Polygon Map Building (SLAM) method with Kinect depth sensor for mobile robots in indoor environments. In this method, Kinect depth data is separated into row planes so that scan line segments are on each row plane. After grouping all scan line segments from all row planes into line groups, a set of 3D Scan polygons are fitted from each line group. A map matching algorithm then figures out pairs of scan polygons and existing map polygons in 3D, and localization is performed to record correct pose of the mobile robot. For 3D map-building, each 3D map polygon is created or updated by merging each matched 3D scan polygon, which considers scan and map edges efficiently. The validity of the proposed 3D SLAM algorithm is revealed via experiments.

• 로봇학회논문지
• /
• 제17권1호
• /
• pp.25-31
• /
• 2022

Moving among multiple floors is one of the most challenging tasks for indoor autonomous robots. Most of the previous researches for indoor mapping and localization have focused on singular floor environment. In this paper, we present an algorithm that creates a multi-floor map using 3D point cloud. We implement localization within the multi-floor map using a LiDAR and an IMU. Our algorithm builds a multi-floor map by constructing a single-floor map using a LOAM-based algorithm, and stacking them through global registration that aligns the common sections in the map of each floor. The localization in the multi-floor map was performed by adding the height information to the NDT (Normal Distribution Transform)-based registration method. The mean error of the multi-floor map showed 0.29 m and 0.43 m errors in the x, and y-axis, respectively. In addition, the mean error of yaw was 1.00°, and the error rate of height was 0.063. The real-world test for localization was performed on the third floor. It showed the mean square error of 0.116 m, and the average differential time of 0.01 sec. This study will be able to help indoor autonomous robots to operate on multiple floors.

• 한국생산제조학회지
• /
• 제20권2호
• /
• pp.133-138
• /
• 2011

RFID system can be used to improve object recognition, map building and localization for robot area. A novel method of indoor navigation system for a mobile robot is proposed using RFID technology. The mobile robot With a RFID reader and antenna is able to find what obstacles are located where in circumstance and can build the map similar to indoor circumstance by combining RFID information and distance data obtained from sensors. Using the map obtained, the mobile robot can avoid obstacles and finally reach the desired goal by $A^*$ algorithm. 3D map which has the advantage of robot navigation and manipulation is able to be built using z dimension of products. The proposed robot navigation system is proved to apply for SLAM and path planning in unknown circumstance through numerous experiments.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.153.5-153
• /
• 2001

This paper presents a simple modeling system that constructs 3D models from an indoor cylindrical environment map using all of the available geometry of the interior structure such as vertical and horizontal lines and parallel and perpendicular planes. The indoor scene abstract model is created through this system and the navigation through the process of 3D reconstruction. This system first automatically detects the vanishing points in a cylindrical environment map from parallel lines and planes, and determines the indoor scene topology previously defined using this information. The determined topology enables he user intervention UI simply construct a 3D model by using the photogrammetry. The modeling system can be ...

• 로봇학회논문지
• /
• 제3권1호
• /
• pp.33-41
• /
• 2008

Based on object recognition technology, we present a new global localization method for robot navigation. For doing this, we model any indoor environment using the following visual cues with a stereo camera; view-based image features for object recognition and those 3D positions for object pose estimation. Also, we use the depth information at the horizontal centerline in image where optical axis passes through, which is similar to the data of the 2D laser range finder. Therefore, we can build a hybrid local node for a topological map that is composed of an indoor environment metric map and an object location map. Based on such modeling, we suggest a coarse-to-fine strategy for estimating the global localization of a mobile robot. The coarse pose is obtained by means of object recognition and SVD based least-squares fitting, and then its refined pose is estimated with a particle filtering algorithm. With real experiments, we show that the proposed method can be an effective vision- based global localization algorithm.

• 한국인터넷방송통신학회논문지
• /
• 제16권1호
• /
• pp.169-175
• /
• 2016

지오펜스는 실세계 지리에서 구획된 가상의 반경으로, 필요에 의해 그때마다 생성될 수도 있거나 사전에 특정 영역을 지오펜스로 지정할 수도 있다. 기존의 지오펜스 애플리케이션들은 구글 지도 또는 웹 기반 지도를 바탕으로 사용자 정의에 의해 경도와 위도로 직접 지정한다. 그러나 대부분의 지오펜스 애플리케이션들은 실내외 동시 지원 및 3차원 공간에 대한 지오펜스를 지원하지 않고 있다. 따라서 본 논문에서는 3차원 지오펜스를 위해 실내외 위치 식별 메커니즘을 제안하고, 이를 스마트폰에 적용하여 3차원 지오펜스를 구현한다. 제안된 위치 식별 메커니즘은 위치 식별을 위해 다양한 유무선 네트워크를 사용하는 것이 아니라 단지 GPS와 WiFi 환경만으로 3차원 지오펜스에서 실내인지 실외인지 식별하고, 더불어 건물의 실내에서는 몇 층에 있는가를 식별한다. 향후에는 3차원 지오펜스가 사물인터넷(IoT) 환경에서의 애플리케이션 개발에 필수적인 요소 기술이 될 것이다.

• Journal of Ubiquitous Convergence Technology
• /
• 제2권2호
• /
• pp.67-77
• /
• 2008

Representation of various types of information in an interactive virtual reality environment on mobile devices had been an attractive and valuable research in this new era. Our main focus is presenting spatial indoor location sensing information in 3D perception in mind to replace the traditional 2D floor map using handheld PDA. Designation of 3D virtual reality by Virtual Reality Modeling Language (VRML) demonstrates its powerful ability in providing lots of useful positioning information for PDA user in real-time situation. Furthermore, by interpolating portal culling algorithm would reduce the 3D graphics rendering time on low power processing PDA significantly. By fully utilizing the CC2420 chipbased sensor nodes, wireless sensor network was established to locate user position based on Received Signal Strength Indication (RSSI) signals. Implementation of RSSI-based indoor tracking method is low-cost solution. However, due to signal diffraction, shadowing and multipath fading, high accuracy of sensing information is unable to obtain even though with sophisticated indoor estimation methods. Therefore, low complexity and flexible accuracy refinement algorithm was proposed to obtain high precision indoor sensing information. User indoor position is updated synchronously in virtual reality to real physical world. Moreover, assignment of magnetic compass could provide dynamic orientation information of user current viewpoint in real-time.

• 한국HCI학회:학술대회논문집
• /
• 한국HCI학회 2006년도 학술대회 1부
• /
• pp.355-361
• /
• 2006

In large scale environments like airport, museum, large warehouse and department store, autonomous mobile robots will play an important role in security and surveillance tasks. Robotic security guards will give the surveyed information of large scale environments and communicate with human operator with that kind of data such as if there is an object or not and a window is open. Both for visualization of information and as human machine interface for remote control, a 3D model can give much more useful information than the typical 2D maps used in many robotic applications today. It is easier to understandable and makes user feel like being in a location of robot so that user could interact with robot more naturally in a remote circumstance and see structures such as windows and doors that cannot be seen in a 2D model. In this paper we present our simple and easy to use method to obtain a 3D textured model. For expression of reality, we need to integrate the 3D models and real scenes. Most of other cases of 3D modeling method consist of two data acquisition devices. One for getting a 3D model and another for obtaining realistic textures. In this case, the former device would be 2D laser range-finder and the latter device would be common camera. Our algorithm consists of building a measurement-based 2D metric map which is acquired by laser range-finder, texture acquisition/stitching and texture-mapping to corresponding 3D model. The algorithm is implemented with laser sensor for obtaining 2D/3D metric map and two cameras for gathering texture. Our geometric 3D model consists of planes that model the floor and walls. The geometry of the planes is extracted from the 2D metric map data. Textures for the floor and walls are generated from the images captured by two 1394 cameras which have wide Field of View angle. Image stitching and image cutting process is used to generate textured images for corresponding with a 3D model. The algorithm is applied to 2 cases which are corridor and space that has the four wall like room of building. The generated 3D map model of indoor environment is shown with VRML format and can be viewed in a web browser with a VRML plug-in. The proposed algorithm can be applied to 3D model-based remote surveillance system through WWW.

• 한국지리정보학회지
• /
• 제20권3호
• /
• pp.67-79
• /
• 2017

정시성이 보장된 도시철도에 대한 수송 의존도가 높아짐에 따라 수송 능력 뿐만 아니라 이용객의 편의성이 중요시 되고 있다. 이에 본 연구에서는 도시철도역사의 개선 및 신규 역사 건설 시 이동속도, 환승거리와 같은 보행 환경을 사전에 정량적으로 평가하기 위한 시뮬레이터를 개발하였다. 시뮬레이터는 3차원 실내지도 저작 모듈과 보행 알고리즘을 수행하는 모듈로 구성되어 있다. 3차원 실내지도 저작 모듈에서는 3차원 공간 모델링, 네트워크 생성 및 평가 결과 표출 등의 기능을 수행하며, 보행 알고리즘에서는 경로탐색, 통행량 배정, 종합서비스 수준 평가 등의 기능이 있다. 이러한 기능의 핵심적인 부분은 공간정보 DB와 동적 통행정보 DB를 유기적으로 연결하여, 전후 상황 등 다양한 시나리오의 적용과 분석을 반복적으로 수행할 수 있다는 점이다. 또한, 향후 시뮬레이터의 활용 방안 제시를 위해 실제 운영 중인 역사를 대상으로 Test-Bed를 구축하고, 역사통행로의 개선 전 후의 보행 속도를 분석하여 개선 효과에 대한 정량적 지표를 산출하였으며, 향후 추가적인 분석을 위한 DB의 확장 가능성에 대해 논의하였다.