• Spatial Information Research
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• 제23권3호
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• pp.113-122
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• 2015

최근 건축기술의 발달에 따라 초고층 건축물 및 지하시설물과 연계된 복합건축물 등과 같이 건축물들이 대형화 되고 있으며, 실내에서 활동하는 인구도 함께 증가하고 있다. 이에 따라 실내공간정보를 이용한 위치 기반서비스에 대한 요구도 증가하고 있다. 실내공간에서 효과적인 위치기반서비스를 위해 OGC IndoorGML 표준에 따라 실내 네트워크가 구축되고 있다. 하지만, 크고 복잡한 실내공간에 대해 단순한 네트워크 구조를 적용하여 실내 네트워크를 구축하는 것은 적합하지 않다. 실내 네트워크는 실내공간에서 주어지는 논리적, 물리적, 기능적 제약조건들을 잘 반영하여 구축되어야 하며, 공간간의 연결정보와 기하정보도 제공해야하기 때문이다. 이를 위해서는, 크고 복잡한 실내 공간을 적절한 크기의 공간으로 분할하는 방법이 필요하다. 이에 본 연구에서는 효과적인 실내네트워크를 생성하기 위해 필요한 실내공간 분할 요구사항을 정리하고 그에 따른 실내공간 분할 프로세스를 제시하였다.

• 제어로봇시스템학회논문지
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• 제15권4호
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• pp.445-450
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• 2009

This paper presents a new mobile robot localization method for indoor robot navigation. The method uses hexagon distributed color-coded patches on the ceiling and a camera is installed on the robot facing the ceiling to recognize these patches. The proposed "cell-coded map", with the use of only seven different kinds of color-coded landmarks distributed in hexagonal way, helps reduce the complexity of the landmark structure and the error of landmark recognition. This technique is applicable for navigation in an unlimited size of indoor space. The structure of the landmarks and the recognition method are introduced. And 2 rigid rules are also used to ensure the correctness of the recognition. Experimental results prove that the method is useful.

• 항공우주기술
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• 제11권2호
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• pp.140-148
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• 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.

• ETRI Journal
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• 제29권2호
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• pp.189-200
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• 2007

This paper addresses the localization and navigation problem in the movement of service robots by using invisible two dimensional barcodes on the floor. Compared with other methods using natural or artificial landmarks, the proposed localization method has great advantages in cost and appearance since the location of the robot is perfectly known using the barcode information after mapping is finished. We also propose a navigation algorithm which uses a topological structure. For the topological information, we define nodes and edges which are suitable for indoor navigation, especially for large area having multiple rooms, many walls, and many static obstacles. The proposed algorithm also has the advantage that errors which occur in each node are mutually independent and can be compensated exactly after some navigation using barcodes. Simulation and experimental results were performed to verify the algorithm in the barcode environment, showing excellent performance results. After mapping, it is also possible to solve the kidnapped robot problem and to generate paths using topological information.

• 한국항해항만학회지
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• 제38권5호
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• pp.457-462
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• 2014

실내에 있는 노드의 위치를 알려주는 시스템은 여러 유용한 응용에 활용된다. 그 가운데 가장 대중적인 응용이 내비게이션 시스템이다. 여기서는 노드가 움직이는 방향에 대한 정보를 필요로 한다. 특히 위치 이동에 따른 변화량과 방향에 대한 정보가 실시간으로 제공되어 야 한다. 이 논문에서는 방위각 센서가 작동하지 않는 실내에서 기존의 위치를 파악할 수 있는 시스템을 이용하여 움직이는 노드의 이동 방위각의 변화량과 변화방향을 정확하게 파악하는 데 효과적인 벡터기반 알고리즘을 제시한다. 기존 알고리즘은 여러 기하학적 계산 단계들을 통해 이동방향의 변화량을 파악한다. 이 논문에서 제안하는 알고리즘은 벡터를 기반으로 하는 단순한 산술식을 통해 이동 노드의 진행방향의 방위각 변화량을 구하고, 노드가 직전에 이동한 방향에 근거하여 도출된 단순한 수식의 부호값(음 또는 양)에 따라 변화방향을 파악한다. 지속적으로 이동하는 노드의 변화하는 방위각에 대한 파악이 기존 알고리즘에 비해 신속하고 정확한 결과를 얻을 수 있음을 논리식과 수식으로 증명하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제6권3호
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• pp.835-854
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• 2012

In this paper, we propose a novel positioning system for indoor navigation which helps a user navigate easily to desired destinations in an unfamiliar indoor environment using his mobile phone. The system requires only the user's mobile phone with its basic equipped sensors such as a camera and a compass. The system tracks user's positions and orientations using a vision-based approach that utilizes $360^{\circ}$ panoramic images captured in the environment. To improve the robustness of the vision-based method, we exploit a digital compass that is widely installed on modern mobile phones. This hybrid solution outperforms existing mobile phone positioning methods by reducing the error of position estimation to around 0.7 meters. In addition, to enable the proposed system working independently on mobile phone without the requirement of additional hardware or external infrastructure, we employ a modified version of a fast and robust feature matching scheme using Histogrammed Intensity Patch. The experiments show that the proposed positioning system achieves good performance while running on a mobile phone with a responding time of around 1 second.

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

• International Journal of Advanced Culture Technology
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• 제9권4호
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• pp.302-306
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• 2021

Indoor localization is one of the basic elements of Location-Based Service, such as indoor navigation, location-based precision marketing, spatial recognition of robotics, augmented reality, and mixed reality. We propose a Voxel Labeling-based visual positioning system using object simultaneous localization and mapping (SLAM). Our method is a method of determining a location through single image 3D cuboid object detection and object SLAM for indoor navigation, then mapping to create an indoor map, addressing it with voxels, and matching with a defined space. First, high-quality cuboids are created from sampling 2D bounding boxes and vanishing points for single image object detection. And after jointly optimizing the poses of cameras, objects, and points, it is a Visual Positioning System (VPS) through matching with the pose information of the object in the voxel database. Our method provided the spatial information needed to the user with improved location accuracy and direction estimation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.846-851
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• 2004

In this paper, we propose a global ultrasonic system for the self-localization and autonomous navigation of indoor mobile robots. The ultrasonic sensor is regarded as the most cost-effective ranging system among the possible alternatives, and it is widely used for general purpose, since it requires simple electronic drivers and has relatively high accuracy. The global ultrasonic system presented in this paper consists of four or more ultrasonic generators fixed at reference positions in the global coordinates of an indoor environment and two receivers mounted on the mobile robots. By using the RF (Radio Frequency) modules added to the ultrasonic sensors, the robot is able to control the ultrasonic generation and to obtain the critical distances from the reference positions, which are required in order to localize is position in the global coordinates. A kalman filter algorithm designed for the self-localization using the global ultrasonic system and the experimental results of the autonomous navigation are presented in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1606-1611
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• 2005

The goal of this paper is to develop a self localization of mobile robot using UHF RFID landmark. We present landmark, a location sensing archetype system that uses UHF Radio Frequency Identification (UHF RFID) technology for locating objects inside buildings. The major advantage of landmark is that it improves the overall accuracy of locating objects by utilizing the concept of reference tags. Based on experimental analysis, we demonstrate that passive UHF RFID is a viable and cost-effective candidate for indoor location sensing. We conduct a series of experiments to evaluate performance of the positioning of the landmark System. In the standard setup, we place RF Reader which has two antennas and 25 tags in our lab. This research uses the assumption-based coordinates (ABC) algorithm[3] for determining the localization of robot. Also, we show how Radio Frequency Identification (UHF RFID) can be used in robot-assisted indoor navigation for the visually impaired. The experiments illustrate that passive UHF RFID tags can act as reliable landmark that trigger local navigation behaviors to achieve global navigation objectives.