• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.11
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• pp.2048-2057
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• 2010

Is this paper, a pedestrian inertial navigation system with vision is proposed. The navigation system using inertial sensors has problems that it is difficult to determine the initial position and the position error increases over time. To solve these problems, a vision system in addition to an inertial navigation system is used, where a camera is attached to a pedestrian. Landmarks are installed to known positions so that the position and orientation of a camera can be computed once a camera views the landmark. Using this position information, estimation errors in the inertial navigation system is compensated.

• Korean Journal of Remote Sensing
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• v.38 no.6_1
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• pp.1015-1023
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• 2022

The Entry-Descent-Landing process of a lander involves many environmental and technical challenges. To solve these problems, recently, terrestrial relative navigation (TRN) technology has been essential for landers. TRN is a technology for estimating the position and attitude of a lander by comparing Inertial Measurement Unit (IMU) data and image data collected from a descending lander with pre-built reference data. In this paper, we present a method for generating descent dataset and extracting landmarks, which are key elements for developing TRN technologies to be used on Mars. The proposed method generates IMU data of a descending lander using a simulated Mars landing trajectory and generates descent images from high-resolution ortho-map and digital elevation map through a ray tracing technique. Landmark extraction is performed by an area-based extraction method due to the low-textured surfaces on Mars. In addition, search area reduction is carried out to improve matching accuracy and speed. The performance evaluation result for the descent dataset generation method showed that the proposed method can generate images that satisfy the imaging geometry. The performance evaluation result for the landmark extraction method showed that the proposed method ensures several meters of positioning accuracy while ensuring processing speed as fast as the feature-based methods.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1448-1451
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• 2004

Position estimation is one of the most important functions for the mobile robot navigating in the unstructured environment. Most of previous localization schemes estimate current position and pose of mobile robot by applying various localization algorithms with the information obtained from sensors which are set on the mobile robot, or by recognizing an artificial landmark attached on the wall, or objects of the environment as natural landmark in the indoor environment. Several drawbacks about them have been brought up. To compensate the drawbacks, a new localization method that estimates the absolute position of the mobile robot by using a fixed camera on the ceiling in the corridor is proposed. And also, it can improve the success rate for position estimation using the proposed method, which calculates the real size of an object. This scheme is not a relative localization, which decreases the position error through algorithms with noisy sensor data, but a kind of absolute localization. The effectiveness of the proposed localization scheme is demonstrated through the experiments.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.713-716
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• 1991

This paper describes a methodology of mobile robot navigation which is designed to carry heavy payloads at high speeds to be used in FMS(Flexible Manufacturing System) without human control. Intelligent control scheme using fuzzy logic is applied to the navigation control. It analyzes sensor readings from multi-sensor system, which is composed of ultrasonic sensors, infrared sensors and odometer, for environment learning, planning, landmark detecting and system control. And it is implemented on a physical robot, AGV(Autonomous Guided Vehicle) which is a two-wheeled, indoor robot. An on-board control software is composed of two subsystems, i.e., AGV control subsystem and Sensor control subsystem. The results show that the navigation of the AGV is robust and flexible, and a real-time control is possible.

• Proceedings of the KOR-KST Conference
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• 1999.10a
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• pp.501-506
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• 1999

차량 항법 장치의 인간-기계 인터페이스의 중요한 구성요소인 전자지도에서 운전자가 경로를 선택하고 자신의 현 위치를 파악하는데 중요한 역할을 하는 랜드마크는 현재 표준화나 인간 공학적인 요소가 고려된 설계가 이뤄지지 않고 있는 실정이며 개발 회사마다 각기 독립적인 개발이나 종이 지도의 제작 표준에 의해 제작되고 있다. 이는 운전자에게 일관성 및 양립성의 결여 및 안전에 대한 문제 발생의 가능성을 내포하고 있으며, 운전자와 도로의 안전에 직결되는 중요한 문제이다. 이에 본 연구는 운전자가 편하고 빠르게 랜드마크를 인지할 수 있게 디자인 속성 조합을 도출하여 상용화된 전자지도와의 비교를 통하여 속성 각 수준별 조합의 인지능력 평가와 그 결과를 분석해 랜드마크 제작의 가이드라인으로 제시한다. 분석결과는 랜드마크의 속성은 색, 그래픽 차원, 형태, 중복 명명, 복수 색 사용, 외곽선 사용시가 가장 최적 속성 조합으로 나타났다.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.37.1-37
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• 2002

Localization is one of the most important functions for the mobile robot navigating in the unstructured environment. Most of previous localization schemes estimate current position and pose of mobile robot by applying various localization algorithms with the information obtained from sensors which are set on the mobile robot, or by recognizing an artificial landmark attached on the wall, or objects of the environment as natural landmark in the indoor environment. Several drawbacks about them have been brought up. To compensate the drawbacks, a new localization method that estimates the global position of the mobile robot by using a camera set on ceiling in the corridor is proposed. This sch...

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.388-391
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• 1995

This paper describes computer control of a wheel chair by using landmarks. Firstly, the approach of landmark detection and recognition is described and the image coordinates are obtained by the primary component analysis method. Subsequently, the self-localization of the wheel chair is determined on the basis of a three-dimensional image processing method. Finally, the control system of the wheel chair is described and a navigation experiment is given. Experimental results indicate the effectiveness of our approah.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1996.10a
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• pp.219-222
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• 1996

During the navigation of mobile robot, one of the essential task is to determination the absolute location of mobile robot. In this paper, we proposed a method to determine the position of the camera from a landmark through the visual image of a quadrangle typed landmark using neural network. In determining the position of the camera on the world coordinate, there is difference between real value and calculated value because of uncertainty in pixels, incorrect camera calibration and lens distortion etc. This paper describes the solution of the above problem using BPN(Back Propagation Network). The experimental results show the superiority of the proposed method in comparison to conventional method in the performance of determining camera position.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.46 no.2
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• pp.75-83
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• 2009

This paper presents a new mobile robot localization method for indoor robot navigation. The method uses color-coded landmarks on the ceiling and a camera is installed on the robot facing the ceiling. The proposed "cell-coded map", with the use of only nine different kinds of color-coded landmarks distributed in a particular way, helps reduce the complexity of the landmark structure. 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.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.9 s.252
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• pp.1124-1133
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• 2006

This paper addresses the localization and navigation problem using invisible two dimensional barcodes on the floor. Compared with other methods using natural/artificial landmark, 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 the mapping is finished. We also propose a navigation algorithm which uses the 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 an advantage that errors occurred in each node are mutually independent and can be compensated exactly after some navigation using barcode. Simulation and experimental results. were performed to verify the algorithm in the barcode environment, and the result showed an excellent performance. After mapping, it is also possible to solve the kidnapped case and generate paths using topological information.