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무인로봇 정밀위치추정을 위한 전술통신 및 영상 기반의 통합항법 성능 분석
최지훈,박용운,송재복,권인소,Choi, Ji-Hoon,Park, Yong-Woon,Song, Jae-Bok,Kweon, In-So 한국군사과학기술학회 2011 한국군사과학기술학회지 Vol.14 No.2
This paper presents a navigation system based on the tactical communication and vision system in outdoor environments which is applied to unmanned robot for perimeter surveillance operations. GPS errors of robot are compensated by the reference station of C2(command and control) vehicle and WiBro(Wireless Broadband) is used for the communication between two systems. In the outdoor environments, GPS signals can be easily blocked due to trees and buildings. In this environments, however, vision system is very efficient because there are many features. With the feature MAP around the operation environments, the robot can estimate the position by the image matching and pose estimation. In the navigation system, thus, operation modes is switched by navigation manager according to some environment conditions. The experimental results show that the unmanned robot can estimate the position very accurately in outdoor environment.
단일 및 다중 컬러 영상에서 이색성 선 공간을 이용한 조명 색도 추정
최유진(Yoo Jin Choi),윤국진(Kuk-Jin Yoon),권인소(In So Kweon) 한국정보과학회 2006 정보과학회논문지 : 소프트웨어 및 응용 Vol.33 No.1
영상의 컬러 정보는 조명 환경에 따라 변한다. 이 경우 영상으로부터 조명 컬러를 추정하고 물체 본래의 컬러를 복원하는 것을 컬러 항상성이라 한다. 본 논문에서는 이색성 반사 모델에 기반한 새로운 컬러 항상성 복원 기법을 제안한다. 이색성 반사 모델에 기반하여 조명 컬러를 추정하기 위해서는 정확한 이색성 선을 추출하는 것이 매우 중요하다. 이를 위해 본 논문에서는 이색성 기울기와 이색성 선 공간을 제안하고, 이를 이용하여 이색성 선을 추정하는 기법을 제안한다. 또한 얻어진 이색성 선을 이용하여 단일 및 다중 컬러 영상에 대한 조명 추정 기법도 제안한다. The color information in an image changes as the illuminant condition varies. The mechanism to find canonical color of an object by estimating illumination color in an image is generally referred as color constancy. In color constancy, computing robust and precise dichromatic line is most important to estimate illumination chromaticity. In this paper, a novel approach to estimate the color of a single illuminant for noisy and micro-textured images is introduced. An accurate dichromatic line is found by using Dichromatic Line Space (DLS), proposed in this paper, which has information about diffuse chromaticity and illumination chromaticity.
형상 정합 기법 기반의 물체의 파지 및 이동 궤적 모사를 위한 로봇 시스템의 개발
고성영(Seong-Young Ko),주한별(Hanbyul Joo),최동걸(Dong Gul Choi),김형우(Hyeongwoo Kim),권인소(In So Kweon) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
This paper explains the development of robotic system to imitate the grasping motion and trajectory of an object based on shape matching method. The system was developed so that it observes the position and the trace of the chosen object, produces the trajectory for 5DoF robotic arm, and moves to mimic the trajectory reversely. In order to extract the information of the object in real time, the shape matching algorithm is applied to stereo images. The center position of the object is obtained at each image and these are utilized to calculate the position in real time in terms of the camera coordination system. These points were converted in terms of the robot coordination system, and the trajectory for robot's motion was generated by interpolating these points. The grasping motion of the robotic arm is planned using the start position and the end position of the trajectory. It was shown that the developed robotics system based on shape matching method operates robustly.
김정호,권인소,Kim, Jungho,Kweon, In So 대한임베디드공학회 2008 대한임베디드공학회논문지 Vol.3 No.2
Recently many researches on intelligent robots have been studied. An intelligent robot is capable of recognizing environments or objects to autonomously perform specific tasks using sensor readings. One of fundamental problems in vision-based robot applications is to recognize where it is and to decide safe path to perform autonomous navigation. However, previous approaches only consider well-organized environments that there is no moving object and environment changes. In this paper, we introduce a novel navigation strategy to handle occlusions caused by moving objects using various computer vision techniques. Experimental results demonstrate the capability to overcome such difficulties for autonomous navigation.