http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
이태재,이훈,조동일,Lee, Tae-Jae,Lee, Hoon,Cho, Dong-Il Dan 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.9
This paper presents a new forward-viewing mono-camera based obstacle detection algorithm for mobile robots. The proposed method extracts the coarse location of an obstacle in an image using inverse perspective mapping technique from sequential images. In the next step, graph-cut based image labeling is conducted for estimating the exact obstacle boundary. The graph-cut based labeling algorithm labels the image pixels as either obstacle or floor as the final outcome. Experiments are performed to verify the obstacle detection performance of the developed algorithm in several examples, including a book, box, towel, and flower pot. The low illumination condition, low color contrast between floor and obstacle, and floor pattern cases are also tested.
이태재((Tae-Jae Lee),박윤재(Yun-Jae Park),구교인(Kyo-In Koo),서종모(Jong-Mo Seo),조동일(Dong-Il “Dan” Cho) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.12
In conventional robotics, charge-coupled device (CCD) and complementary metal-oxide-semiconductor (CMOS) cameras have been utilized for acquiring vision information. These devices have problems, such as narrow optic angles and inefficiencies in visual information processing. Recently, biomimetic vision sensors for robotic applications have been receiving much attention. These sensors are more efficient than conventional vision sensors in terms of the optic angle, power consumption, dynamic range, and redundancy suppression. This paper presents recent research trends on biomimetic vision sensors and discusses future directions.
이태재(Tae-Jae Lee),이훈(Hoon Lee),조동일(Dong-Il “Dan” Cho) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.4
This paper presents a new forward-viewing mono-camera based obstacle detection algorithm for mobile robots. The proposed method extracts the coarse location of an obstacle in an image using inverse perspective mapping technique from sequential images. In the next step, graph-cut based image labeling is conducted for estimating the exact obstacle boundary. The graph-cut based labeling algorithm labels the image pixels as either obstacle or floor as the final outcome. Experiments are performed to verify the obstacle detection performance of the developed algorithm in several examples, including a book, box, towel, and flower pot. The low illumination condition, low color contrast between floor and obstacle, and floor pattern cases are also tested.
전방 모노카메라 기반 SLAM을 위한 다양한 특징점 초기화 알고리즘의 성능 시뮬레이션
이훈(Hun Lee),김철홍(Chul Hong Kim),이태재(Tae-Jae Lee),조동일(Dong-Il “Dan” Cho) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.10
This paper presents a performance evaluation of various feature-initialization algorithms for forward-viewing mono-camera based simultaneous localization and mapping (SLAM), specifically in indoor environments. For mono-camera based SLAM, the position of feature points cannot be known from a single view; therefore, it should be estimated from a feature initialization method using multiple viewpoint measurements. The accuracy of the feature initialization method directly affects the accuracy of the SLAM system. In this study, four different feature initialization algorithms are evaluated in simulations, including linear triangulation; depth parameterized, linear triangulation; weighted nearest point triangulation; and particle filter based depth estimation algorithms. In the simulation, the virtual feature positions are estimated when the virtual robot, containing a virtual forward-viewing mono-camera, moves forward. The results show that the linear triangulation method provides the best results in terms of feature-position estimation accuracy and computational speed.
Co-Ni 합금위에서 수직방향으로 정렬된 탄소나노튜브의 성장
류재은,이철진,이태재,손경희,신동혁,Ryu, Jae-Eun,Lee, Cheol-Jin,Lee, Tae-Jae,Son, Gyeong-Hui,Sin, Dong-Hyeok 대한전기학회 2000 전기학회논문지C Vol.54 No.12
We have grown vertically aligned carbon nanotubes in a large area of Co-Ni codeposited Si substrates by the thermal CVD usign $C_2H_2$ gas. Since the discovery of carbon nanotubes, growth of carbon nanotubes has been achieved by several methods such as laser vaporization, arc discharge, and pyrolysis. In particular, growth of vertically aligned nanotubes is important to flat panel display applications. Recently, vertically aligned carbon nanotubes have been grown on glass by PECVD. Aligned carbon nanotubes can be also grown on mesoporous silica and Fe patterned porous silicon using CVD. In this paper, we demonstrate that carbon nanotubes can be vertically aligned on catalyzed Si substrate when the domain density of catalytic particles reaches a certain value. We suggest that steric hindrance between nanotubes at an initial stage of the growth forces nanotubes to align vertically and each nonotubes are grown in bundle.