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동적계획법을 사용한 구조화 조명의 최적 레이저 라인 검출
고수홍(Suhong Ko),김성찬(Seongchan Gim),이왕희(Wanghee Lee),김종만(Jongman Kim),김형석(Hyongsuk Kim) 대한전기학회 2006 대한전기학회 학술대회 논문집 Vol.2006 No.10
The structured lighting technique is a very accurate depth measurement method. One problem in this technique is that the laser light is invisible very often partly or as a whole caused from occlusion, light absorbtion, and reflection on the surface. If there is no laser light detected on a row of the image frame, the depth could not be computed at the point on the row. In this paper, a Dynamic Programing-based efficient laser line tracking algorithm is proposed to find the most likely line of the laser light utilizing all the possible information of the laser light trace. The performance of the algorithm is shown.
동적계획법을 이용한 실내 자율이동 로봇의 최적 경로 계획
고수홍(Suhong Ko),김성찬(Seongchan Gim),최종영(Jongyoung Choi),김종만(Jongman Kim),김형석(Hyongsuk Kim) 대한전기학회 2006 대한전기학회 학술대회 논문집 Vol.2006 No.10
An autonomous navigation technology for the mobile robot is investigated in this paper. The proposed robot path planning algorithm employs the dynamic programming to find the optimal path. The algorithm finds the global optimal path through the local computation on the environmental map. Since the robot computes the new path at every point, it can avoid the obstacle successfully during the navigation. The experimental results of the robot navigation are included in this paper.
김성찬(Seongchan Gim),고수홍(Suhong Ko),김형석(Hyongsuk Kim),김종만(Jongman Kim),이왕희(Wang-Hee Lee) 대한전기학회 2006 대한전기학회 학술대회 논문집 Vol.2006 No.10
This paper propose a localization method using color landmark that is applicable to mobile intelligent robot. The color landmarks are attached in the indoor ceiling. The world coordinate of robot is estimated by color patterns and the coordinates of landmarks. A landmark is composed of 4color and these 4 colors are sorted in a line. All of landmarks have a main color which indicates direction of robot. Other 3 colors are the combination of 5 kind of colors. The CCD camera is installed on the top of robot to observe the landmarks in the ceiling.