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스케일불변 특징의 삼차원 재구성을 통한 이동 로봇의 상대위치추정
申東范(Dong-Fan Shen),吉世基(Se-Kee Kil),李鍾實(Jong-Shill Lee),柳劑群(Je-Goon Ryu),李應赫(Eung-Hyuk Lee),洪勝弘(Seung-Hong Hong) 대한전기학회 2006 전기학회논문지 D Vol.55 No.4
A key component of autonomous navigation of intelligent home robot is localization and map building with recognized features from the environment. To validate this, accurate measurement of relative location between robot and features is essential. In this paper, we proposed relative localization algorithm based on 3D reconstruction of scale invariant features of two images which are captured from two parallel cameras. We captured two images from parallel cameras which are attached in front of robot and detect scale invariant features in each image using SIFT(scale invariant feature transform). Then, we performed matching for the two image's feature points and got the relative location using 3D reconstruction for the matched points. Stereo camera needs high precision of two camera's extrinsic and matching pixels in two camera image. Because we used two cameras which are different from stereo camera and scale invariant feature point and it's easy to setup the extrinsic parameter. Furthermore, 3D reconstruction does not need any other sensor. And the results can be simultaneously used by obstacle avoidance, map building and localization. We set 20㎝ the distance between two camera and capture the 3frames per second. The experimental results show ±6㎝ maximum error in the range of less than 2m and ±15㎝ maximum error in the range of between 2m and 4m.
스케일 불변 특징을 이용한 이동 로봇의 위치 추정 및 매핑
이종실,신동범,권오상,이응혁,홍승홍,Lee, Jong-Shill,Shen, Dong-Fan,Kwon, Oh-Sang,Lee, Eung-Hyuk,Hong, Seung-Hong 한국전기전자학회 2005 전기전자학회논문지 Vol.9 No.1
로봇이 자율주행을 하는데 있어 중요한 요소는 로봇 스스로 위치를 추정하고 동시에 주위 환경에 대한 지도를 작성하는 것이다 본 논문에서는 스케일 불변 특정을 이용한 비전 기반 위치 추정 및 매핑 알고리즘을 제안한다. 로봇에 어안렌즈가 부착된 카메라를 천정을 바라볼 수 있도록 부착하여 스케일 불변 특정을 갖는 고급의 영상 특정을 구하여 맹 빌딩과 위치 추정을 수행한다. 먼저, 전처리 과정으로 어안렌즈를 통해 입력된 영상을 카메라 보정을 행하여 축방향 왜곡을 제거하고 레이블링과 컨벡스헐을 적용하여 천정영역과 벽영역으로 분할한다 최초 맵 빌딩시에는 분할된 영역에 대해 특정점을 구하고 맵 데이터베이스에 저장한다. 맵 빌딩이 종료될 때까지 연속하여 입력되는 영상에 대해 특정점들을 구하고 이미 작성된 맵과 매칭되는 점들을 찾고 매칭되지 않은 점들에 대해서는 기존의 맴에 추가하는 과정을 반복한다. 위치 추정은 맵 빌딩과정에서 매칭되는 점들을 찾을 때 동시에 수행되어 진다. 그리고 임의의 위치에서 기존의 작성된 맵과 매칭되는 점들을 찾음으로서 위치 추정이 행해지며 동시에 기존의 맵 데이터베이스의 특정점들을 갱신하게 된다. 제안한 방법은 $50m^2$의 영역에 대해 맵 빌딩을 2 분내에 수행할 수 있었으며, 위치의 정확도는 ${\pm}13cm$, 위치에 대한 로봇의 자세(각도)는 ${\pm}3$도의 오차를 갖는다. A key component of an autonomous mobile robot is to localize itself accurately and build a map of the environment simultaneously. In this paper, we propose a vision-based mobile robot localization and mapping algorithm using scale-invariant features. A camera with fisheye lens facing toward to ceiling is attached to the robot to acquire high-level features with scale invariance. These features are used in map building and localization process. As pre-processing, input images from fisheye lens are calibrated to remove radial distortion then labeling and convex hull techniques are used to segment ceiling region from wall region. At initial map building process, features are calculated for segmented regions and stored in map database. Features are continuously calculated from sequential input images and matched against existing map until map building process is finished. If features are not matched, they are added to the existing map. Localization is done simultaneously with feature matching at map building process. Localization. is performed when features are matched with existing map and map building database is updated at same time. The proposed method can perform a map building in 2 minutes on $50m^2$ area. The positioning accuracy is ${\pm}13cm$, the average error on robot angle with the positioning is ${\pm}3$ degree.
시각장애인 유도 로봇의 자기 위치 추적 시스템 및 사용자 인터페이스 개발
유제군,신동범,권오상,김낙환,이상무,이응혁,홍승홍,Ryu Je-Goon,Shen Dong-Fan,Kwon Oh-Sang,Kim Nack-Hwan,Lee Sang-Moo,Lee Eung-Hyuk,Hong Seung-Hong 한국정보처리학회 2005 정보처리학회논문지D Vol.12 No.3
To guide the guiding robot for the visually impaired carefully, the digital map to be used to search a path must be detailed and has some information about dangerous spots. It also has to search not only safe but also short path through the position data by GPS and INS sensors. In this paper, as the difference of the ability that the visually unpaired can recognize, we have developed the localization tracking system so that it can make a movement path and verify position information, and the global navigation system for the visually impaired using the GPS and INS. This system can be used when the visually impaired move short path relatively. We had also verified that the system was able to correct the position as the assistant navigation system of the GPS on the outside. 시각 장애인용 유도 로봇을 안전하게 유도하기 위해서는 경로를 검색하기 위해 사용되는 전자지도가 섬세해야 하며 위험한 위치에 대한 정보를 가지고 있어야 한다. 또한 GPS와 INS에 의해 획득한 위치정보를 통하여 안전하면서도 빠른 최단 경로를 검색해야 한다. 본 논문에서는 시각 장애인의 인식 능력의 차이에 따라 시각 장애인에게 경로의 안내 및 위치정보만을 제공하는 이동경로 생성 및 확인을 위한 자기 위치 추적 시스템과 주변 환경정보인식 및 GPS 오차보정기능을 가진 유도로봇과 통합된 시각장애인용 전역항법시스템을 구현하였다. 이 시스템을 통하여 시각 장애인이 비교적 짧은 거리를 이동하고자 할 때 활용할 수 있으며, 실외 환경에서는 GPS의 보조 항법 시스템으로 위치의 보정을 할 수 있음을 알 수 있었다.
吉世基(Se-Kee Kil),申東范(Dong-Fan Shen),李應赫(Eung-Hyuk Lee),閔洪基(Hong-Ki Min),洪勝弘(Seung-Hong Hong) 대한전기학회 2006 전기학회논문지 D Vol.55 No.2
The purpose of this paper is to recognize the feature points of ECG and human pulse -which signal shows the electric and physical characteristics of heart respectively- using wavelet transform. Wavelet transform is proper method to analyze a signal in time-frequency domain. In the process of wavelet decomposition and reconstruction of ECG and human pulse signal, we removed the noises of signal and recognized the feature points of signal using some of decomposed component of signal. We obtained the result of recognition rate that is estimated about 95.45% in case of QRS complex, 98.08% in case of S point and P point and 92.81% in case of C point. And we computed diagnosis parameters such as RRI, PTT, U-time and E-time.
혈압측정시 가압 단계에서 목표압력 및 측정 종료압력 추정
오홍식,이종실,김영수,신동범,김인영,지영준,Oh, Hong-Sic,Lee, Jong-Shill,Kim, Young-Soo,Shen, Dong-Fan,Kim, In-Young,Chee, Young-Joan 대한의용생체공학회 2008 의공학회지 Vol.29 No.5
In blood pressure measurement, the oscillometric method detects and analyzes the pulse pressure oscillation while deflating the cuff around the arm. For its principle, one has to inflate cuff pressure above the subject's systolic pressure and deflate below the diastolic pressure. Most of the commercialized devices inflate until the fixed target pressure and deflate until the fixed completion pressure because there is no way to know the systolic and diastolic pressure before measurement. Too high target pressure makes stress to the subject and too low target pressure makes big error or long measurement time because of re-inflation. There are similar problems for inadequate completion pressure. In this study, we suggest new algorithm to set proper target and completion pressure for each subject by analyzing pressure waveform while inflating period. We compared our proposed method and auscultation method to see the errors of estimation. The differences between the two measurements were -4.02$\pm$4.80mmHg, -10.50$\pm$10.57mmHg and -0.78$\pm$5.l7mmHg for mean arterial pressure, systolic pressure and diastolic pressure respectively. Consequently, we could set the target pressure by 30 mmHg higher than our estimation and we could stop at 20mmHg lower than our estimated diastolic pressure. Using this method, we could reduce the measurement time.