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무인 차량을 위한 센서 시스템 개발 및 3차원 월드 모델링
김시종(Sijong Kim),강정원(Jungwon Kang),최윤근(Yungeun Choe),박상운(Sang Un Park),심인욱(Inwook Shim),안승욱(Seunguk Ahn),정명진(Myung Jin Chung) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.6
This paper describes a novel sensor system for 3D world modeling of an autonomous vehicle in large-scale outdoor environments. When an autonomous vehicle performs path planning and path following, well-constructed 3D world model of target environment is very important for analyze the environment and track the determined path. To generate well-construct 3D world model, we develop a novel sensor system. The proposed novel sensor system consists of two 2D laser scanners, two single cameras, a DGPS (Differential Global Positioning System) and an IMU (Inertial Measurement System). We verify the effectiveness of the proposed sensor system through experiment in large-scale outdoor environment.