• 한국정보통신학회논문지
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• 제15권3호
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• pp.528-535
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• 2011

본 논문에서는 고주파 발진회로의 공진기가 안테나로 동작하는 2.4GHz 대역의 능동 안테나를 이용하여 이동체의 거리를 측정할 수 있는 소형 도플러 센서를 제안하였다. 이동체의 움직임에 비례하여 고주파 발진주파수의 편이를 발생시키며 이를 검출하는 회로를 통해 제안된 구조의 동작을 확인하였다. 설계 제작된 거리 감지 센서는 직경이 30mm, 높이 4.2mm 정도로 매우 작은 원형디스크 형태를 갖으며, 안테나는 2.35GHz에서 약 120도의 빔폭과 전방향 방사특성을 나타내었다. 센서의 감도 측정결과, 1m 떨어져 움직이고 있는 도체판에 대해 약 240mV의 도플러 신호 전압을 얻었고, 자유낙하 실험으로부터 지표위의 5m 지점에서부터 지표면까지 선형적인 전압크기의 증가를 보였다.

• 제어로봇시스템학회논문지
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• 제22권9호
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• pp.723-732
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• 2016

This paper proposes an approach to fused navigation of an unmanned surface vehicle(USV) and to detection of the outlier or interference of global positioning system(GPS). The method fuses available sensor measurements through extended Kalman filter(EKF) to find the location and attitude of the USV. The method uses error covariance of EKF for detection of GPS outlier or interference. When outlier or interference of the GPS is detected, the method excludes GPS data from navigation process. The measurements to be fused for the navigation are GPS, acceleration, angular rate, magnetic field, linear velocity, range and bearing to acoustic beacons. The method is tested through simulated data and measurement data produced through ground navigation. The results show that the method detects GPS outlier or interference as well as the GPS recovery, which frees navigation from the problem of GPS abnormality.

• 제어로봇시스템학회논문지
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• 제15권2호
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• pp.155-162
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• 2009

In walking guide robot, a guide vehicle detects an obstacle distribution in the walking space using range sensors, and generates a 3D grid map to map the obstacle information and the tactile display. And the obstacle information is transferred to a blind pedestrian using tactile feedback. Based on the obstacle information a user plans a walking route and controls the guide vehicle. The algorithm for 3D detection of an obstacle distribution and the method of mapping the generated obstacle map and the tactile display device are proposed in this paper. The experiment for the 3D detection of an obstacle distribution using ultrasonic sensors is performed and estimated. The experimental system consisted of ultrasonic sensors and control system. In the experiment, the detection of fixed obstacles on the ground, the moving obstacle, and the detection of down-step are performed. The performance for the 3D detection of an obstacle distribution and space mapping is verified through the experiment.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 추계학술대회 논문집 전기물성,응용부문
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• pp.173-175
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• 2002

In general, CT and Shunt have been traditionally used as a sensor for detecting the partial discharges in order to diagnose the present insulation state of the electric power apparatus. The former is very convenient for the practical application since it is not only non-contact method but its frequency bandwidth and resonance frequency could be designed for its specific application. However, it has been proved to have poor linearity and low sensitivity. For the latter, even though it is an ideal sensor, noise from the power source and the ground could flow into the system. Furthermore, the surge current could be easily come into the measuring systems giving rise to a severe breakdown. In this respect, a hybrid sensor has been designed and fabricated in order to overcome the shortcoming of these two types of sensors. For this purpose, the experimental comparison with commercialized products has been also carried out. In this concept of the hybrid sensor, two different impedances could provide the passage of the signals. In this way, the discrimination of the noise could be accomplished very effectively with high ratio of signal over noise(S/N) under the little influence from the external noises and the breakdown.

• 전자공학회논문지
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• 제49권12호
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• pp.265-274
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• 2012

본 논문에서는 레이더와 비전센서 융합 기반의 움직임추정을 이용한 전방차량 검출 및 추적 방법을 제안한다. 제안하는 방법은 움직임추정을 통하여 레이더로 관측한 타겟의 부정확한 횡방향 위치를 보정할 뿐만 아니라 자차의 거동에 따른 자차-지면 간의 기하학적 관계 변화에 적응적으로 전방차량을 검출하고 추적한다. 또한 연산량 부담이 적은 특징점기반의 움직임추정 방법을 사용하여 차량을 검증하는 과정의 수행 횟수 감소를 도모하였다. 제안하는 움직임추정 방법으로 보정한 타겟이 기존의 방법에 비해 높은 시간적 일관성(temporal consistency)을 가지고 전방차량을 추적하는 것은 물론 다양한 도로환경에서 강건하게 전방차량을 검출하는 것을 실험을 통해 입증하였다.

• 한국정보과학회논문지:소프트웨어및응용
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• 제36권4호
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• pp.291-297
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• 2009

본 논문은 시각장애인들의 실외 보행 시 위험한 장애물을 탐지하여 진동으로 경고해주고, 필요에 따라 물체의 색상과 주변의 자기를 음성으로 알려주는 SmartWand 개발에 관한 것이다. 이 기기는 시각장애인들이 널리 사용하는 횐 지팡이에 쉽게 탈 부착할 수 있는 형태로 횐 지팡이로 감지할 수 없는 사각지대의 장애물을 초음파로 탐지하여 경고해주며, 컬러센서와 조도센서를 이용하여 물체의 색상과 주변의 밝기를 음성으로 알려주는 기능을 가지고 있다 SmartWand는 1, 2차 버전으로 개발되었는데, 2차 버전에서는 1차 버전의 사용성 평가 결과를 토대로 무게 및 크기를 줄여 실용성을 개선시켰으며, 가속도 센서를 통해 초음파 센서의 탐지 범위를 조정하여 시각장애인이 횐 지팡이의 타법을 행할 때 진행방향에 놓인 장애물만을 탐지할 수 있도록 하였다. 또한 지팡이로 땅을 칠 때의 충격으로 인한 초음파센서의 오동작을 제거하기 위한 필터를 사용하였다 이러한 기능들은 다양한 환경에서 실험을 통해 적절한 인자들을 결정하였다.

• ETRI Journal
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• 제37권3호
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• pp.606-616
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• 2015

In this paper, we propose a novel method for road recognition using 3D point clouds based on a Markov random field (MRF) framework in unstructured and complex road environments. The proposed method is focused on finding a solution for an analysis of traversable regions in challenging environments without considering an assumption that has been applied in many past studies; that is, that the surface of a road is ideally flat. The main contributions of this research are as follows: (a) guidelines for the best selection of the gradient value, the average height, the normal vectors, and the intensity value and (b) how to mathematically transform a road recognition problem into a classification problem that is based on MRF modeling in spatial and visual contexts. In our experiments, we used numerous scans acquired by an HDL-64E sensor mounted on an experimental vehicle. The results show that the proposed method is more robust and reliable than a conventional approach based on a quantity evaluation with ground truth data for a variety of challenging environments.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2006년도 Proceedings of ISRS 2006 PORSEC Volume II
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• pp.676-679
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• 2006

Mangrove crowns were delineated using active sensor LIDAR (LIght Detection And Ranging) data by a crown delineating model developed in this study. LIDAR data were acquired from airborne survey by a helicopter for the estuary of Macouria in the northeast coast of French Guiana. The canopy height image was derived from LIDAR vector data by calculating the difference between ground and non-ground data. The mangrove site in the study area was classified to three sectors by the time of mangrove settlement; Mangrove 1986, 2002 and 2003. The estimated crown of Mangrove 1986 was reliable defined for their size, number and volume because of larger crown size and bigger variation of crown height. The tree crown size of Mangrove 2002 and 2003 by the model was overestimated and the number of trees was much underestimated. The estimated crown was not for single crown but a crown group due to homogenous crown height and spatial resolution of LIDAR data. However the canopy height image derived from LIDAR data provided three-dimensional information of mangroves.

• 한국측량학회지
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• 제37권5호
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• pp.315-322
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• 2019

DSM (Digital Surface Model) is a digital representation of ground surface topography or terrain that is widely used for hydrology, slope analysis, and urban planning. Aerial photogrammetry and LiDAR (Light Detection And Ranging) are main technology for urban DSM generation but high-resolution satellite imagery is the only ingredient for remote inaccessible areas. Traditional automated DSM generation method is based on correlation-based methods but recent study shows that a modern pixelwise image matching method, SGM (Semi-Global Matching) can be an alternative. Therefore this study investigated the application of SGM for Kompsat satellite data of KARI (Korea Aerospace Research Institute). Firstly, the sensor modeling was carried out for precise ground-to-image computation, followed by the epipolar image resampling for efficient stereo processing. Secondly, SGM was applied using different parameterizations. The generated DSM was evaluated with a reference DSM generated by the first pulse returns of the LIDAR reference dataset.

• 한국자동차공학회논문집
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• 제4권3호
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• pp.73-82
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• 1996

Vehicle movement detection by high order correlation analysis of optical sensor array signals is introduced. The optical sensors observe the road which is assumed to be a non-uniform speckle-like texture. The measurement system is applicable to general robotic movement detection because : 1) It employs a non-contact measurement method, 2) The system can be made very compact, and 3) It enables approximation of the movement trace with a sequence of arcs instead of the conventional connection of simple line segments. In this work, we have looked into estimation of running trace of an autonomous vehicle by observing the ground pattern.