• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.3
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• pp.312-320
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• 2020

3D scanning began in the field of manufacturing. In the construction field, a BIM (Building Information Modeling)-based 3D modeling environment was developed and used for the overall construction, such as factory prefabrication, structure construction inspection, plant facility, bridge, tunnel structure inspection using 3D scanning technology. LiDARs have higher accuracy and density than mobile scanners but require longer registration times and data processing. On the other hand, in interior building space management, relatively high accuracy is not needed, and the user can conveniently move with a mobile scan system. This study derives considerations for the development of Simultaneous Localization and Mapping (SLAM)-based Scan Backpack systems that move freely and support real-time point cloud registration. This paper proposes the mobile scan system, framework, and component structure to derive the considerations and improve scan productivity. Prototype development was carried out in two stages, SLAM and ScanBackpack, to derive the considerations and analyze the results.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.745-752
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• 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.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2856-2858
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• 2000

This paper proposes a scan code method for obstacle avoidance of mobile robot. Obstacles detected in a circular window are converted to scan codes and then to the steering angle. The safe rotating radius is obtained by the scan code to avoid the collision between robot and obstacle and. the minimum distance for rotation is calculated. Effectiveness of the method is illustrated through simulations, and the results show that the proposed method can be efficiently implemented to an unknown environment.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.10a
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• pp.595-598
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• 2014

In order to provide the Mobile Stations operating in IEEE 802.11 Wireless LAN network with seamless handover, a comprehensive study on the functions of handover considering various networking environments and characteristics of Mobile Stations is required. Note that the channel scan process finding a new AP takes the major portion of handover time, and this is the most significant issue with seamless handover for real-time multimedia service in WLAN environment. In this paper the functions required to provide seamless handover in IEEE 802.11 WLAN network are identified, and a new scanning technique is proposed with which the Mobile Stations can selectively scan the channels to reduce the channel scan time in various network environments. Here each Mobile Station awares of the channels the neighbor APs are using by scanning them in advance according to the proposed technique. Afterwards, when handover is actually required, the optimal AP is decided quickly by scanning only the predetemined group of channels and order of scan without unnecessary scan of all the channels. In addition, proposes to enter the Scan Trigger Value and Handover Threshold Value in mobile phones in order to prevent the phenomenon can not handover.

• Archives of Plastic Surgery
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• v.37 no.1
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• pp.91-94
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• 2010

Purpose: The purpose of this study is to describe the usefulness of intraoperative mobile CT scans in the reduction of zygomatic arch fracture. Method: Two patients with zygomatic arch fractures were selected who were indications of closed reduction by Gilles' approach. After the reduction was done in the operating room with zygomatic arch elevator, intraoperative CT scan was done to check the extent of reduction. Additional reduction was performed according to the obtained images from the intraoperative mobile CT scan. Examination of the preoperative CT, intraoperative CT after the reduction, and postoperative plain X-ray films were done for documentation and analysis. Results: Reduction was carried out successfully to the patients without any complications. Both patients were satisfied with the postoperative cosmetic and functional outcome. Revisional surgery was not necessary during the 6 months follow up. Conclusion: The advantage of this method is that it is easier to obtain three dimensional relationships of the fracture site. Furthermore, the operator is less exposed to radiation hazards compared to other methods that obtain intraoperative images such as the C-arm. In conclusion, intraoperative mobile CT scan can be a useful surgical aid in the reduction of zygomatic arch fractures.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1153-1163
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• 2014

An efficient 3D SLAM (Simultaneous Localization and Map Building) method is developed for urban building environments using a tilted 2D LRF (Laser Range Finder), in which a 3D map is composed of perpendicular/horizontal planar polygons. While the mobile robot is moving, from the LRF scan distance data in each scan period, line segments on the scan plane are successively extracted. We propose an "expected line segment" concept for matching: to add each of these scan line segments to the most suitable line segment group for each perpendicular/horizontal planar polygon in the 3D map. After performing 2D localization to determine the pose of the mobile robot, we construct updated perpendicular/horizontal infinite planes and then determine their boundaries to obtain the perpendicular/horizontal planar polygons which constitute our 3D map. Finally, the proposed SLAM algorithm is validated via extensive simulations and experiments.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.2A
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• pp.186-195
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• 2010

For the fast target base station channel decision in WiMAX networks, fast group scanning scheme was suggested, in which mobile stations in proximity of each other form a group and scan the candidate channels dispersively. However, the previous group scanning scheme does not consider the different QoS requirements of each MS in a group. In this paper we propose the enhanced group scanning scheme, so-called QoS-aware group scan scheduling scheme, that makes mobile stations in a group scan the candidate channels without deteriorating the QoS requirements. We introduce the QoS-aware channel scanning concept of a individual mobile station and show the different scanning latencies due to the different QoS requirements. With the help of the efficient channel allocation by the serving BS, in the proposed scanning scheme, a mobile station with relatively higher QoS in a group scans less amount of candidate channels than the others with relatively lower QoS, while the mobile stations in a group still guarantees the fast target base station decision. The performance results show that our proposed scanning scheme results in the fast target base station decision while considering the QoS requirements of each MS.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.6
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• pp.505-510
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• 2016

This paper presents a searching method of corresponding points robust to rotational error for scan-matching used for SLAM(Simultaneous Localization and Mapping) in mobile robot. A differential driving mechanism is one of the most popular type for mobile robot. For driving curved path, this type controls the velocities of each two wheels independently. This case increases a wheel slip of the mobile robot more than the case of straight path driving. And this is the reason of a drifting problem. To handle this problem and improves the performance of scan-matching, this paper proposes a searching method of corresponding points using extraction of a closest point based on rotational radius of the mobile robot. To verify the proposed method, the experiment was conducted using LRF(Laser Range Finder). Then the proposed method is compared with an existing method, which is an existing method based on euclidian closest point. The result of our study reflects that the proposed method can improve the performance of searching corresponding points.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.12
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• pp.1234-1239
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• 2011

The scan matching is widely used in localization and mapping of mobile robots. This paper presents a probabilistic scan matching method. To improve the performance of the scan matching, a direction of data point is incorporated into the scan matching. The direction of data point is calculated using the line fitted by the neighborhood data. Owing to the incorporation, the performance of the matching was improved. The number of iterations in the scan matching decreased, and the tolerance against a high rotation between scans increased. Based on real data of a laser range finder, experiments verified the performance of the proposed direction augmented probabilistic scan matching algorithm.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.8
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• pp.1-7
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• 2019

When using conventional 3D image scanning methods, it is common for image scanning to be done manually, which is labor-intensive. Scanning a space made up of complicated equipment or scanning a narrow space that is difficult for the user to enter, is problematic, resulting in quality degradation due to the presence of shadow areas. This paper proposes a method to scan an image using a rover equipped with a scanner in areas where it is difficult for a person to enter. To control the scan path precisely, the 3D image remote scan automation method based on the rover move rule definition is described. Through the study, the user can automate the 3D scan plan in a desired manner by defining the rover scan path as the rule base.