• Journal of Korea Multimedia Society
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• v.24 no.1
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• pp.1-12
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• 2021

In this paper, we present a new architecture for semantic segmentation. Semantic segmentation aims at a pixel-wise classification which is important to fully understand images. Previous semantic segmentation networks use features of multi-layers in the encoder to predict final results. However, they do not contain various receptive fields in the multi-layers features, which easily lead to inaccurate results for boundaries between different classes and small objects. To solve this problem, we propose a multi-path feature fusion module that allows for features of each layers to contain various receptive fields by use of a set of dilated convolutions with different dilatation rates. Various experiments demonstrate that our method outperforms previous methods in terms of mean intersection over unit (mIoU).

• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.149-158
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• 2024

This paper presents a robust autonomous navigation and reconnaissance system for tracked robots, designed to handle complex multi-floor indoor environments with stairs. We introduce a localization algorithm that adjusts scan matching parameters to robustly estimate positions and create maps in environments with scarce features, such as narrow rooms and staircases. Our system also features a path planning algorithm that calculates distance costs from surrounding obstacles, integrated with a specialized PID controller tuned to the robot's differential kinematics for collision-free navigation in confined spaces. The perception module leverages multi-image fusion and camera-LiDAR fusion to accurately detect and map the 3D positions of objects around the robot in real time. Through practical tests in real settings, we have verified that our system performs reliably. Based on this reliability, we expect that our research team's autonomous reconnaissance system will be practically utilized in actual disaster situations and environments that are difficult for humans to access, thereby making a significant contribution.