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깊이 정보의 가중 메디안 필터를 이용한 벨로다인 라이다 업샘플링
임현빈(Hyun-bin Lim),김응수(Eung-su Kim),박순용(Soon-Yong Park) 대한전자공학회 2019 대한전자공학회 학술대회 Vol.2019 No.11
This paper presents a LiDAR data upsampling method to obtain dense 3D depth data. We first begin the upsampling steps from linear interpolation of a depth image. And then, we use a Weighted Median Filter algorithm to complement the first interpolation image. We use the upsampling algorithm to create a dense 3D depth map from the existing sparse LiDAR data. And we generated a high-density 3D map using the SLAM algorithm.
가중 메디안 필터를 이용한 16채널 라이다의 깊이정보 업샘플링
임현빈(Hyun-Bin Lim),김응수(Eung-su Kim),이덕만(Duk-Man Lee),김희수(Hee-Soo Kim),박순용(Soon-Yong Park) 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.5
Three-dimensional (3D) LiDAR is widely used because it can accurately measure 360° 3D depth. One of the most widely used sensors to this end is VLP-16, a 16-channel LiDAR manufactured by Velodyne. This 16-channel LiDAR provides dense 3D depth data in the horizontal direction. However, in the vertical direction, it provides only sparse depth data owing to the LiDAR architecture. We propose an upsampling method to obtain a dense 3D depth map from a 16-channel LiDAR by applying an edge-aware filter to the LiDAR data. A camera- LiDAR sensor system composed of a 16-channel LiDAR and six vision cameras is used for this purpose. First, the LiDAR depth data are projected onto the camera image coordinates to generate a 2.5D depth map. Next, bilinear interpolation and a weighted median filter are applied to upsample the original depth map. Compared with the original LiDAR data, we can generate an extremely dense depth map by using the proposed method. The results of quantitative analysis show that the proposed method can dramatically increase the number of 3D depth points and reduce the depth reconstruction error.
임현빈(Hyun-Bin Lim),이중희(Jung-Hee Lee),송명호(Myung-Ho Song),오상하(Sang-Ha Oh),류누리(Nu-ri Ryu) 대한전자공학회 2023 대한전자공학회 학술대회 Vol.2023 No.6
With the recent growth of smart factories, demand for process automation is increasing. Robot arms are widely used in automation processes because they can move flexibly and move and mount heavy objects. In the case of vehicle tires, it is advantageous to use a robot arm because the tire is heavy. To mount the vehicle tire to the wheel hub, the robot arm must know the exact location of the wheel hub of the vehicle. However, it is difficult to specify the location of the wheel hub because the location of the vehicle is not constant. This paper proposes an algorithm for estimating the location of a vehicle wheel hub using depth images so that vehicle tires can be mounted on a wheel hub using a robot arm. Since the location of the wheel hub that changes through the algorithm can be known with six-axis coordinates, tires can be mounted using a robot arm. In addition, the process can be automated because the robot arm is used.
혈액투석 환자의 동정맥루 천자 시 통증완화를 위한 온요법과 냉요법의 효과
최송희,백경희,이정영,임현빈,김현정,김윤수,이륜규,권용은 병원간호사회 2006 임상간호연구 Vol.12 No.1
Purpose: The purpose of this study is to examine the effect of warm and ice application verified to reduce the pain caused by arteriovenous fistula needling under hemodialysis. Method: This study was performed with the one group pretest-posttest design from pre-experimental design. A total of 34 patients who have matured arteriovenous fistula were given an objective pain score, subjective pain score(VAS) and physiologic index respectively 5 times pre-experiment, post warm application and post ice application. The data were analyzed with SPSS win 12.0 program by using descriptive statistics, a repeated measure ANOVA and a paired t-test. Result: The post treatment of warm and ice application reduced the subjective and objective pain rather than pre-treatment when they experienced arteriovenous fistula needling. Concerning the effect of warm and ice application, there turned out to be no significant difference in pain score. Regarding warm and ice application, the hypothesis that physiologic index, such as blood pressure and pulse, was not significantly different between pre needling and post needling and it was partially verified. Conclusion: The findings suggest that both of warm and ice application were effective ways to relieve pain. Therefore, according to characteristic and tendency of patients, it can be recommended to choose warm or ice application