• 국제학술발표논문집
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• The 9th International Conference on Construction Engineering and Project Management
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• pp.792-799
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• 2022

Building Information Modeling (BIM) technology is a key component of modern construction engineering and project management workflows. As-is BIM models that represent the spatial reality of a project site can offer crucial information to stakeholders for construction progress monitoring, error checking, and building maintenance purposes. Geometric methods for automatically converting raw scan data into BIM models (Scan-to-BIM) often fail to make use of higher-level semantic information in the data. Whereas, semantic segmentation methods only output labels at the point level without creating object level models that is necessary for BIM. To address these issues, this research proposes a hybrid semantic-geometric approach for clutter-resistant floorplan generation from laser-scanned building point clouds. The input point clouds are first pre-processed by normalizing the coordinate system and removing outliers. Then, a semantic segmentation network based on PointNet++ is used to label each point as ceiling, floor, wall, door, stair, and clutter. The clutter points are removed whereas the wall, door, and stair points are used for 2D floorplan generation. A region-growing segmentation algorithm paired with geometric reasoning rules is applied to group the points together into individual building elements. Finally, a 2-fold Random Sample Consensus (RANSAC) algorithm is applied to parameterize the building elements into 2D lines which are used to create the output floorplan. The proposed method is evaluated using the metrics of precision, recall, Intersection-over-Union (IOU), Betti error, and warping error.

• 한국터널지하공간학회 논문집
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• 제12권3호
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• pp.239-245
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• 2010

본 논문에서는 방대한 크기의 지상 레이저 스캔 자료로부터 터널의 내공 단면을 효율적으로 추출하기 위하여, 헤시(hash) 기반 구조체를 이용한 터널 중심선 자동 추정 및 터널 내공 단면 구성 포인트 클라우드 추출 방식을 제안하였다. 즉, 헤시 기반 구조체에 입력한 레이저 스캔 자료로부터 일정한 방향의 단면들을 추출한 후 각 단면의 중심점을 연결하여 터널의 중심선을 추정하였으며, 추정된 중심선을 따라 일정 간격 및 두께로 터널 내공 단면 구성 포인트 클라우드를 추출하였다. 결과적으로 약 750만개의 포인트로 구성된 레이저 스캔 자료로부터 1 m 간격으로 0.1 m 두께의 단면 구성 포인트 클라우드를 추출하는데 3초미만의 시간이 소요되었으며 메모리는 124 MB가 소요되었다. 그러나 터널 중심선 추정 후 오류 포인트 제거, 시점 및 종점 추가 작업을 수동으로 수행해야 히는 한계도 드러내었다.

• 한국산학기술학회논문지
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• 제14권8호
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• pp.3617-3624
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• 2013

원전 연료집합체의 연료봉 내에 잔존하여 연료봉의 손상을 발생시킬 수 있는 이물질의 잔존 여부 및 연료봉의 손상, 연료봉의 휨, 뒤틀림, 그리드 손상여부를 비젼기술과 레이저 스캔 기술을 응용한 원전 연료집합체 스크린 검사 방법을 개발하여 계획예방 정비 기간 중 검사가 가능하도록 연료집합체 검사의 신뢰성과 생산성을 확보하였다. 또한 검사 데이터를 집계, 분석하여, 연료집합체의 변형 상태를 지속적으로 감시함으로써, 국내 각 원자로별 노심 내 연료변형 패턴을 이해할 수 있다. 이는 연료 재장전 도중 발생 가능한 그리드 손상을 방지하는데 기술정보로 활용되어 국내외 원전 안전 운영의 중요한 데이터베이스를 제공하게 된다.

• 한국멀티미디어학회논문지
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• 제23권1호
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• pp.102-110
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• 2020

This study covers exploration of seabed around Heuksando Island using hover drones. To do so, we inspected the terrain of the island and set autonomous flight waypoints on each area of the island's shores. Next, we designated seabed scan radius for drones. Then the drones fitted with laser sensor hover autonomously on their assigned area and acquire seabed data. Finally, we match the seabed data on all areas according to GPS. Our final goal is to make immersive VR maritime cultural map based on 『Jasan Urbo』.

• Smart Structures and Systems
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• 제31권1호
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• pp.79-88
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• 2023

As the number of deteriorated buildings increases, the importance of safety diagnosis, maintenance, and the repair of buildings also increases. Traditionally, building condition assessments are performed by one person or one company and various inspections are needed. This entails a subjective judgment by the inspector, resulting in different assessment results, poor objectivity and a lack of reliability. Therefore, this study proposed a method to bring about accurate grading results of building conditions. The limitations of visual inspection and condition assessment processes previously conducted were identified by reviewing existing studies. Building defect data was collected using the reverse-engineered three-dimensional (3D) model. The accuracy of the results was verified by comparing them with the actual evaluation results. The results show a 50% time-saving to the same area with an accuracy of approximately 90%. Consequently, defect data with high objectivity and reliability were acquired by measuring the length, area, and width. In addition, the proposed method can improve the efficiency of the building diagnosis process.

• 지질공학
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• 제12권4호
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• pp.405-419
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• 2002

새롭게 개발된 레이저 콘포컬 현미경을 이용해 암석 불연속면의 거칠기를 측정하였다. 레이저의 파장은 488 nm이며, 현미경은 두 개의 galvano-meter scanner mirror를 이용한 광 편광법에 의해 제어된다. 레이저 반사를 통한 자동 초점기능은 관찰대상을 빠르고 정확하게 측정할 수 있다. 이 현미경은 기존의 다른 콘포컬 현미경에 비해 광축방향의 해상도를 크게 개선하였고, 특수 제작한 현미경 스테이지를 이용해 최대 $10{\;}{\times}{\;}10{\;}cm$ 까지 크기의 시료를 측정할 수 있다. 측정간격은 x와 y 방향으로 $2.5{\;}\mu\textrm{m}$씩이며, z방향의 최대 측정해상도는 $10{\;}\mu\textrm{m}$로서, 다른 방범에 비해 훨씬 정확하다. 조립질과 세립질의 입도가 다른 화강암을 대상으로 인장시험(Brazilian test)를 통해 인공절리를 생성시켰고, 생성된 좌우의 절리면에 각각 3개씩의 측선을 설정하였다. 각 측선을 따라 측정한 높이는 1차원은 물론 거칠기의 세밀한 양상을 보여주는 2차원과 3차원의 디지털 이미지로 표현된다. 조립질 화강암의 1차원 단면은 세립질보다 불연속면의 기복이 더 심함을 잘 보여준다. 거칠기를 정량적으로 특성화하고 거칠기를 구성하는 성분 중 가장 큰 영향을 미치는 성분을 파악하기 위해 고속퓨리에 변환 (FFT)를 이용한 스펙트럼 분석을 실시하였다. 스펙트럼 분석결과 저주파 성분이 큰 시효의 경우 거칠기의 기복변화가 심하고 긴 파장을 나타내는 경향이 있음을 구명하였다.

• 대한치과보철학회지
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• 제43권2호
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• pp.264-279
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• 2005

Statement of problem. Intraoral corrosion not only affects the esthetic and function of metallic dental restoration, but also has biologic consequences as well. Therefore, corrosion is considered a primary factor when choosing the dental alloy and laboratory technique. Purpose. The objective of this study was to compare the effects of solder and laser weld on corrosion Material and methods. Test specimens were made of 2 types of gold alloys, Co-Cr and Ni-Cr alloy and fabricated 3 methods, respectively: as cast, solder, and laser weld. For the analysis of corroding properties, potentiodynamic polarization test and immersion test conducted. The potentiodynamic polarization scan curve were recorded in 0.9% NaCl solution(pH 7) using Potentiostat/Galyanostat Model 273A. All specimens were exposed to 0.9% NaCl solution(pH 2.3) during 14 days. Elemental release into corrosive solution was measured by atomic emission spectrometry Differences in corrosion potential and mass release were determined using ANOVA. Results and conclusion. Through analyses of the data, following results were obtained. 1. In Pontor MPF and Wiron 99, corrosion potential of the solder group was statistically lower than as cast and laser weld group (p<0.05) , but there was no difference between corrosion potential of solder group and laser weld group in Pontor MPF and no differences between as cast and laser weld group (p>0.05). In Jel-Bios 10 and Wirobond, there was no difference of corrosion potential according to joining methods(p>0.05). 2. In all tested alloys, the amount of released metallic ion was greatest in the solder group(p<0.05). There was no difference between as cast group and laser weld group in Jel-Bios 10 and Wirobond(p>0.05). 3. In scanning electron microscopic examination. except soldered Wiron 99 specimens, it is impossible to discriminate the corrosive property of solder and laser weld. 4. Under the this experimental circumstances, laser weld appears superior to the solder when corrosion is considered.

• 로봇학회논문지
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• 제4권4호
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• pp.298-304
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• 2009

This paper describes an algorithm that improves 3D reconstruction result using a multi-sensor fusion disparity map. We can project LRF (Laser Range Finder) 3D points onto image pixel coordinatesusing extrinsic calibration matrixes of a camera-LRF (${\Phi}$, ${\Delta}$) and a camera calibration matrix (K). The LRF disparity map can be generated by interpolating projected LRF points. In the stereo reconstruction, we can compensate invalid points caused by repeated pattern and textureless region using the LRF disparity map. The result disparity map of compensation process is the multi-sensor fusion disparity map. We can refine the multi-sensor 3D reconstruction based on stereo vision and LRF using the multi-sensor fusion disparity map. The refinement algorithm of multi-sensor based 3D reconstruction is specified in four subsections dealing with virtual LRF stereo image generation, LRF disparity map generation, multi-sensor fusion disparity map generation, and 3D reconstruction process. It has been tested by synchronized stereo image pair and LRF 3D scan data.

• 한국정밀공학회지
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• 제20권2호
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• pp.76-84
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• 2003

Stereolithography is the technique using a laser beam to cure a liquid resin, a photopolymer, with three dimensional computer-aided design (CAD) data. The build parameters of stereolithography such as beam size, scan velocity. hatch spacing, layer thickness and etc. are determined by the accuracy of prototype, the build time and the cured properties of the resin. In particular, beam size is important processing parameter fur the other parameters. Therefore, this study observed the cured property to beam size. For this purpose, according to hatch spacing and beam size, the cure width and depth were measured on single cured line. Also, the cure width and depth were measured at single cured layer As a result of experiments. cure depth which varied from 0.23mm to 0.34mm was directly proportioned to beam radius. on the other hand, cure width which varied from 0.42mm to 1.07mm was inversely proportioned to beam radius. Surface roughness varied from 1.12 to 2.23 m for the ratio of hatch spacing to beam radius.

• 제어로봇시스템학회논문지
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• 제21권10호
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• pp.936-943
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• 2015

This paper presents arc/line segments-based Simultaneous Localization and Mapping (SLAM) by updating accumulated laser sensor data with a mobile robot moving in an unknown environment. For each scan, the sensor data in the set are stored by a small constant number of parameters that can recover the necessary information contained in the raw data of the group. The arc and line segments are then extracted according to different limit values, but based on the same parameters. If two segments, whether they are homogenous features or not, from two scans are matched successfully, the new segment is extracted from the union set with combined data information obtained by means of summing the equivalent parameters of these two sets, not combining the features directly. The covariance matrixes of the segments are also updated and calculated synchronously employing the same parameters. The experiment results obtained in an irregular indoor environment show the good performance of the proposed method.