• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.1
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• pp.35-45
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• 2013

A autonomous vehicle requires improved and robust perception systems than conventional perception systems of intelligent vehicles. In particular, single sensor based perception systems have been widely studied by using cameras and laser radar sensors which are the most representative sensors for perception by providing object information such as distance information and object features. The distance information of the laser radar sensor is used for road environment perception of road structures, vehicles, and pedestrians. The image information of the camera is used for visual recognition such as lanes, crosswalks, and traffic signs. However, single sensor based perception systems suffer from false positives and true negatives which are caused by sensor limitations and road environments. Accordingly, information fusion systems are essentially required to ensure the robustness and stability of perception systems in harsh environments. This paper describes a perception system for autonomous vehicles, which performs information fusion to recognize road environments. Particularly, vision and laser radar sensors are fused together to detect lanes, crosswalks, and obstacles. The proposed perception system was validated on various roads and environmental conditions with an autonomous vehicle.

• Journal of Advanced Marine Engineering and Technology
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• v.29 no.5
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• pp.560-570
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• 2005

In this paper, we discuss the tracking system for a wheelchair which can follow the path of a human target such as a nurse in hospital. The problem of human tracking is that it requires recognition of feature as well as the tracking of human positions. For this purpose the use of a high cost visual sensor such as laser finder or streo camera makes the tracking a high cost additional expense. This paper proposes the tracking system uses a low cost infrared range-finder and CCD camera, The Infrared range-finder and CCD camera can create a target candidate through each target recognition algorithm. and this information is fused in order to reduce the uncertainties of a target decision and correct the positional error of the human. The effectiveness of the proposed system is verified through experiments.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.2
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• pp.45-53
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• 2019

RGB-D SLAM (Simultaneous Localization and Mapping) refers to the technology of using deep camera as a visual sensor for SLAM. In view of the disadvantages of high cost and indefinite scale in the construction of maps for laser sensors and traditional single and binocular cameras, a method for creating three-dimensional map of indoor environment with deep environment data combined with RGB-D SLAM scheme is studied. The method uses a mobile robot system equipped with a consumer-grade RGB-D sensor (Kinect) to acquire depth data, and then creates indoor three-dimensional point cloud maps in real time through key technologies such as positioning point generation, closed-loop detection, and map construction. The actual field experiment results show that the average error of the point cloud map created by the algorithm is 0.0045m, which ensures the stability of the construction using deep data and can accurately create real-time three-dimensional maps of indoor unknown environment.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.41.6-41
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• 2001

As autonomous mobile robot become more widely used in industry, the importance of navigation system is rising, But eh primary method of locomotion is with wheels, which cause man problems in controlling tracked mobile robots. In this paper, we discuss the used navigation control of tracked mobile robots with multiple sensors. The multiple sensors are composed of ultrasonic wave sensors and vision sensors. Vision sensors gauge distance using a laser and create visual images, to estimate robot position. The 80196 is used at close range and the vision board is used at long range. Data is managed in the main PC and management is distributed to ever sensor. The controller employs fuzzy logic.

• Journal of Magnetics
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• v.21 no.4
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• pp.524-528
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• 2016

Eddy current (EC) sensor works based on the electromagnetic induction principle and has been widely applied in the industrial testing and evaluation due to its robustness and environmental adaptability. Meanwhile, tilt angle measurement is mainly based on the laser or visual method, which is strict with the measurement environment and not suitable for the industrial applications. In this paper, a novel tilt angle measurement method based on arrayed EC sensors is proposed. Both the simulation and experiments indicate that the measured error is approximately linear with tilt angle and the accuracy after compensation is $0.25^{\circ}$. In conclusion, this research cannot only broaden the scope of EC application, but also overcome the shortcomings of existing angle measurement methods.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.7
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• pp.737-743
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• 2011

Service robots are equipped with various sensors such as vision camera, sonar sensor, laser scanner, and microphones. Although these sensors have their own functions, some of them can be made to work together and perform more complicated functions. AudioFvisual fusion is a typical and powerful combination of audio and video sensors, because audio information is complementary to visual information and vice versa. Human beings also mainly depend on visual and auditory information in their daily life. In this paper, we conduct two studies using audioFvision fusion: one is on enhancing the performance of sound localization, and the other is on improving robot attention through sound localization and face detection.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.382-387
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• 1992

In order to obtain desired arc welding performance, we already developed an arc welding robot system that enabled coordinated motions of dual arm robots. In this system one robot arm holds a welding target as a positioning device, and the other robot moves the welding torch. Concerning to such a dual arm robot system, the positioning accuracy of robots is one important problem, since nowadays conventional industrial robots unfortunately don't have enough absolute accuracy in position. In order to cope with this problem, our robot system employed teaching playback method, where absolute error are compensated by the operator's visual feedback. Due to this system, an ideal arc welding considering the posture of the welding target and the directions of the gravity has become possible. Another problem still remains, while we developed an original teaching method of the dual arm robots with coordinated motions. The problem is that manual teaching tasks are still tedious since they need fine movements with intensive attentions. Therefore, we developed a 3-dimensional vision guided robot control method for our welding robot system with coordinated motions. In this paper we show our 3-dimensional vision sensor to guide our arc welding robot system with coordinated motions. A sensing device is compactly designed and is mounted on the tip of the arc welding robot. The sensor detects the 3-dimensional shape of groove on the target work which needs to be weld. And the welding robot is controlled to trace the grooves with accuracy. The principle of the 3-dimensional measurement is depend on the slit-ray projection method. In order to realize a slit-ray projection method, two laser slit-ray projectors and one CCD TV camera are compactly mounted. Tactful image processing enabled 3-dimensional data processing without suffering from disturbance lights. The 3-dimensional information of the target groove is combined with the rough teaching data they are given by the operator in advance. Therefore, the teaching tasks are simplified

• International Journal of Advanced Culture Technology
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• v.5 no.1
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• pp.90-97
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• 2017

Nowadays, the most of commercial buildings are build-out with complex architecture and decorated with more complicated interiors of buildings so establishing intelligible escape routes becomes an important case of fire or other emergency in a limited time. The commercial buildings are already equipped with multiple exit signs and these exit signs may create confusion and leads the people into different directions under emergency. This can jeopardize the emergency situation into a chaotic state, especially in a complex layout buildings. There are many research focused on implementing different approached to improve the exit sign system with better visual navigating effects, such as the use of laser beams, the combination of audio and video cues, etc. However the digital signage system based emergency exit sign management is one of the best solution to guide people under emergency situations to escape. This research paper, propose an intelligent evacuation route GUIDE that uses the combination centralized Wireless Sensor Networks (WSN) and digital signage for people safety and avoids dangers from emergency conditions. This proposed system applies WSN to detect the environment condition in the building and uses an evacuation algorithm to estimate the safe route to escape using the sensor information and then activates the signage system to display the safe evacuation route instruction GUIDE according to the location the signage system is installed. This paper presented the prototype of the proposed signage system and execution time to find the route with future research directions. The proposed system provides a natural intelligent evacuation route interface for self or remote operation in facility management to efficiently GUIDE people to the safe exit under emergency conditions.

• Journal of the Korean Geosynthetics Society
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• v.19 no.4
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• pp.41-50
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• 2020

Since cracks in concrete structures expedite corrosion of reinforced concrete over a long period of time, regular on-site inspections are essential to ensure structural usability and prevent degradation. Most of the safety inspections of facilities rely on visual inspection with naked eye, so cost and time consuming are severe, and the reliability of results differs depending on the inspector. In this study, a portable measuring device that can be used for safety diagnosis and maintenance was developed as a device that measures the width and length of concrete cracks through image analysis of cracks photographed with a camera. This device captures the cracks found within a close distance (3 m), and accurately calculates the unit pixel size by laser distance measurement, and automatically calculates the crack length and width with the image processing algorithm developed in this study. In measurement results using the crack image applied to the experiment, the measurement of the length of a 0.3 mm crack within a distance of 3 m was possible with a range of about 10% error. The crack width showed a tendency to be overestimated by detecting surrounding pixels due to vibration and blurring effect during the binarization process, but it could be effectively corrected by applying the crack width reduction function.

• Journal of the Korean Society of Marine Environment & Safety
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• v.20 no.2
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• pp.202-209
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• 2014

In this paper, a developed device for detecting target's location and avoiding collision is proposed. Velocity and acceleration model of target are derived to estimate target's information, i.e. position, velocity and acceleration considering process and measurement noise. Kalman filtering method applied to the estimation process and its results was confirmed by simulation. The distance measurements system using laser sensor for moving target system is also developed to confirm the effectiveness of the proposed scheme. Experiments to get information of moving target with velocity and acceleration model was executed. The data with filtering and without filtering was compared by experiments. Discontinuous measured data was changed to smooth and continuous data by Kalman filtering. It is confirmed that desired data was obtained by applying proposed scheme. UI for measuring and monitoring the target data is developed and visual and auditory alarm function is attached on the system Finally, position estimation system of moving target with good performance is achieved by low price equipments.