• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.79-82
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• 2005

Recently the necessity of road data is still being increased in industrial society, so there are many repairing and new constructions of roads at many areas. According to the development of government, city and region, the update and acquisition of road data for GIS (Geographical Information System) is very necessary. In this study, the fusion method with range data(3D Ground Coordinate System Data) and Intensity data in stand alone LiDAR data is used for road extraction and then digital image processing method is applicable. Up to date Intensity data of LiDAR is being studied. This study shows the possibility method for road extraction using Intensity data. Intensity and Range data are acquired at the same time. Therefore LiDAR does not have problems of multi-sensor data fusion method. Also the advantage of intensity data is already geocoded, same scale of real world and can make ortho-photo. Lastly, analysis of quantitative and quality is showed with extracted road image which compare with I: 1,000 digital map.

• ICROS
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• v.2 no.3
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• pp.81-91
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• 1996

이 글에서는 Multi-Tasking Real Time O.S인 VxWorks를 기본으로 하여 다중센서 융합(Multi-Sensor Fusion) 능력을 갖는 다중 로봇 협조제어 시스템의 구현에 대하여 살펴보았다. 본 제어 시스템은 두대 로봇의 제어에 필요한 장애물 회피, 조건 동작(Conditional Motion) 혹은 동시동작(Concurrent Motion)과 외부 디바이스와의 동기 Motion(Conveyor Tracking)을 수행할 수 있게 구현하였고, 몇몇 작업을 통해 우수성을 입증하였다. 앞으로 본 연구와 관련한 추후 과제로는 1) 자유도가 6관절형인 수직다관절 매니퓰레이터를 위한 충돌회피 알고리즘의 개발, 2) Two Arm Robot의 상대 위치를 위한 Auto-Calibration 시스템의 개발, 3) CAD Based Trajectory 생성 등이 있다.

• Journal of Sensor Science and Technology
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• v.28 no.3
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• pp.157-163
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• 2019

The LiDAR sensor, which is widely regarded as one of the most important sensors, has recently undergone active commercialization owing to the significant growth in the production of ADAS and autonomous vehicle components. The LiDAR sensor technology involves radiating a laser beam at a particular angle and acquiring a three-dimensional image by measuring the lapsed time of the laser beam that has returned after being reflected. The LiDAR sensor has been incorporated and utilized in various devices such as drones and robots. This study focuses on object detection and recognition by employing sensor fusion. Object detection and recognition can be executed as a single function by incorporating sensors capable of recognition, such as image sensors, optical sensors, and propagation sensors. However, a single sensor has limitations with respect to object detection and recognition, and such limitations can be overcome by employing multiple sensors. In this paper, the performance of an eight-channel scanning LiDAR was evaluated and an object detection algorithm based on it was implemented. Furthermore, object detection characteristics during daytime and nighttime in a real road environment were verified. Obtained experimental results corroborate that an excellent detection performance of 92.87% can be achieved.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.346-349
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• 2004

The teleoperation system applies all of the industrial fields due to the development of the network infrastructure. It is one of the indispensable elements for controlling the robot at a remote sight and monitoring the limit or unknown environment. The common teleoperation robot system is what has the visual module to supply the network system and realistic UI to the existed robot system. Therefore, remarked that the fusion between modules and transmission of visual data the remarked the important element to improve the robot application in the various environments. Delay of development time by robot platform and noneffective communication among developers are also problem to approach. In this paper we propose the independent teleoperation system. The main application language is JAVA in this system, which is applied JAVA API like JNI and JMF to construct the effective teleoperation system. The system has the both side communication system between sever and client as a basic structure. The visual data that is attached the robot at a remote sight is captured by JMF API and then is transmitted to the web browser called client by RTR protocol. JNI is used to connect between JAVA and the lower part application (sensor fusion, motion control.) of the robot programmed by various Native languages. The proposed system is the application that can perform the elements, for instance transmission of visual data, the fusion of various native application modules and the effective network communication, with any platform.

• Smart Structures and Systems
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• v.24 no.2
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• pp.257-266
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• 2019

The benefit of data fusion in improving the performance of Higher Order Sliding Mode (HOSM) observer is brought out in this paper. This improvement in the performance of HOSM observer, resulted in the improvement of active vibration control of a piezo actuated structure, when controlled by a Discrete Sliding Mode Controller (DSMC). The structure is embedded with two piezo sensors for measuring the first two vibrating modes. The fused output of sensors is applied to the HOSM observer for generating state estimates, these states generated are applied to the DSMC, designed for the fourth order linear time invariant model of the structure. In the simulation study, the structure is excited at the first and second mode resonance. It is found that better vibration suppression is obtained, when the states generated by the fused output of sensors is applied as controller input, than the vibration suppression obtained by applying the states generated by using individual sensor output. The closed loop performance of DSMC obtained with HOSM observer is compared with the closed loop performance obtained with the conventional observer. Results obtained shows that better vibration suppression is obtained when the states generated by HOSM observer is applied as controller input.

• Smart Structures and Systems
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• v.23 no.1
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• pp.61-69
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• 2019

Offshore structures are generally exposed to harsh environments such as strong tidal currents and wind loadings. Monitoring the structural soundness and integrity of offshore structures is crucial to prevent catastrophic collapses and to prolong their lifetime; however, it is intrinsically challenging because of the difficulties in accessing the critical structural members that are located under water for installing and repairing sensors and data acquisition systems. Virtual sensing technologies have the potential to alleviate such difficulties by estimating the unmeasured structural responses at the desired locations using other measured responses. Despite the usefulness of virtual sensing, its performance and applicability to the structural health monitoring of offshore structures have not been fully studied to date. This study investigates the use of virtual sensing of offshore structures. A Kalman filter based virtual sensing algorithm is developed to estimate responses at the location of interest. Further, this algorithm performs a multi-sensor data fusion to improve the estimation accuracy under non-stationary tidal loading. Numerical analysis and laboratory experiments are conducted to verify the performance of the virtual sensing strategy using a bottom-fixed offshore structural model. Numerical and experimental results show that the unmeasured responses can be reasonably recovered from the measured responses.

• 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.

• Korean Journal of Remote Sensing
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• v.38 no.6_4
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• pp.1879-1887
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• 2022

In this study, a method of estimating the velocity and altitude of aircrafts photographed in a KOMPSAT-3 satellite was proposed. In the proposed method, parallax effect, which is a time offset between bands due to the photographing method of the KOMPSAT-3 satellite, the structure of the sensor, and the movement of the satellite's orbit, was calculated, and in this process, trucks running on the highway were used. In addition, the actual direction and the direction by parallax effect of the aircraft were calculated using the coordinates of the aircraft in the image, and the attitude information of the KOMPSAT-3 satellite was calculated using metadata to estimate the velocity and altitude of the aircraft. The estimated value through the proposed method was compared with the actual value, automatic dependent surveillance-broadcast (ADS-B), and the error rate was calculated here. As a result, it was confirmed that the velocity and altitude error rate of large aircraft (I1, I3, S2) were lower than that of light aircraft (I2, S2), and the estimated velocity and altitude were relatively high in large aircraft using the proposed method.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.5C
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• pp.355-364
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• 2012

Target processing mechanisms are necessary to collect target information, real-time data fusion, and tactical environment recognition for cooperative engagement ability. Among these mechanisms, the target tracking starts from predicting state of speed, acceleration, and location by using sensors' measurements. However, it can be a problem to give the reliability because the measurements have a certain uncertainty. Thus, a technique which uses multiple sensors is needed to detect the target and increase the reliability. Also, data fusion technique is necessary to process the data which is provided from heterogeneous sensors for target tracking. In this paper, a target tracking algorithm is proposed based on probabilistic data association(PDA) by fusing radar and ESM sensor measurements. The radar sensor's azimuth and range measurements and the ESM sensor's bearing-only measurement are associated by the measurement fusion method. After gating associated measurements, state estimation of the target is performed by PDA filter. The simulation results show that the proposed algorithm provides improved estimation under linear and circular target motions.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.5
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• pp.566-572
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• 2014

Recently, indoor navigation has been applied in large convention centers by using wireless sensor networks (WSNs), which provide not only a user's path to be traveled but also orientation and shopping information to increase user's convenience. This paper presents the localization system for estimating relative coordinates without pre-deployment of the reference node based on ultra wide band (UWB) ranging system, which is relatively suitable for indoor localization compared to other wireless communications, and azimuth sensor. The proposed localization system which consists of an azimuth sensor and a mobile node composed of three nodes estimates relative coordinates of the reference node without applying any recursive and time consumption algorithms. Also, in the process of estimating relative coordinates of the reference node, ranging errors are minimized through the proposed technique and the number of nodes can be reduced. Experimental results show the feasibility and validity of the proposed system.