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비전 센서 및 딥러닝 기반 선박 접안을 위한 어라운드뷰 모니터링 시스템
김한근,김동훈,박별터,이승목,Kim, Hanguen,Kim, Donghoon,Park, Byeolteo,Lee, Seung-Mok 대한임베디드공학회 2020 대한임베디드공학회논문지 Vol.15 No.2
This paper proposes vision sensors and deep learning-based around view monitoring system for ship berthing. Ship berthing to the port requires precise relative position and relative speed information between the mooring facility and the ship. For ships of Handysize or higher, the vesselships must be docked with the help of pilots and tugboats. In the case of ships handling dangerous cargo, tug boats push the ship and dock it in the port, using the distance and velocity information receiving from the berthing aid system (BAS). However, the existing BAS is very expensive and there is a limit on the size of the vessel that can be measured. Also, there is a limitation that it is difficult to measure distance and speed when there are obstacles near the port. This paper proposes a relative distance and speed estimation system that can be used as a ship berthing assist system. The proposed system is verified by comparing the performance with the existing laser-based distance and speed measurement system through the field tests at the actual port.
김한근(Hanguen Kim),명현(Hyun Myung),최현택(Hyun-Taek Choi) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.4
Most path planning algorithms for a marine robot in the ocean environment have been developed without considering the robot’s heading angle. As a result, the robot has a difficulty in following the path correctly. In this paper, we propose a limit-cycle circle set that applies to the Theta* algorithm. The minimum turning radius of a marine robot is calculated using a limit-cycle circle set, and circles of this radius is used to generate a configuration space of an occupancy grid map. After applying Theta* to this configuration space, the limit-cycle circle set is also applied to the start and end nodes to find the appropriate path with specified heading angles. The benefit of this algorithm is its fast computation time compared to other 3-D (x, y, θ) path planning algorithms, along with the fact that it can be applied to the 3-D kinematic state of the robot. We simulate the proposed algorithm and compare it with 3-D A<SUP>*</SUP> and 3-D A<SUP>*</SUP> with post smoothing algorithms.
김한근(Hanguen Kim),명현(Hyun Myung) 제어로봇시스템학회 2011 제어로봇시스템학회 각 지부별 자료집 Vol.2011 No.12
Most path planning algorithms for the ocean environment have been developed only for a 2-D (x,y) plane without considering the vehicle’s heading angle. As a result, the vehicle has difficulty following the path correctly. In this paper, we propose a limit-cycle circle set that applies to the Theta<SUP>*</SUP> algorithm and calculates the turning radius for a marine surface vehicle. Circles of this radius are used to generate a configuration space of an occupancy grid map. After applying Theta<SUP>*</SUP> to this configuration space, the limit-cycle circle set is also applied to the start and end nodes to find the appropriate path with specified heading angles. The benefit of this algorithm is its fast computation time compared to other 3-D (x,y,θ) path planning algorithms, along with the fact that it can be applied to the 3-D kinematic state of the vehicle. We simulate the proposed algorithm and compare it with 3-D A<SUP>*</SUP> and 3-D A<SUP>*</SUP> with post smoothing algorithms.
이상원(Sangwon Lee),김한근(Hanguen Kim),김영재(Youngjae Kim),이세린(Serin Lee),이동성(Dongsung Lee),주진선(Jinsun Ju),명현(Myung Hyun) 제어로봇시스템학회 2014 제어로봇시스템학회 각 지부별 자료집 Vol.2014 No.11
In this paper, a novel method for human pose estimation algorithm is proposed. The proposed algorithm only uses depth information only and can work for any human without calibration. To estimate human poses, the proposed algorithm combines a support vector machine(SVM) and a geodesic distance graph. The SVM-based pose estimator uses randomly selected human features to reduce computation. Body parts that involve a lot of motions are estimated by geodesic distance value. The proposed human pose estimation algorithm is evaluated through an experiment and the result showed that our method perform fairly well.
인공지능 기술에 기반한 자율운항선박의 새로운 상황인식 시스템의 설계와 초기 결과
최현택(Hyun-Taek Choi),박정홍(Jeonghong Park),최진우(Jinwoo Choi),강민주(Minju Kang),이영준(Yeongjun Lee),정종대(Jongdae Jung),김종휘(Jonghwi Kim),권혁준(Hyeokjun Kweon),김진환(Jinwhan Kim),윤국진(Kuk-Jin Yoon),김한근(Hanguen Kim),박상 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.8
With recent advancements in artificial intelligence technologies, the academia and industry have heightened performance expectations when designing autonomous ships, and major ship building companies and governments have been conducting large-scale research projects around the world. This paper proposes a novel design concept, and presents the key features and preliminary results of a situational awareness system for autonomous ships, named the iSAS (Intelligent Situational Awareness System), and is being developed as part of the Korea Autonomous Surface Ships (KASS) project launched in April 2020. The iSAS comprises deep-learning algorithms for detecting marine objects using camera, radar, and LiDAR (Light Detection and Ranging), a probabilistic-based data association and tracking algorithm and a new collision risk evaluation method. Because the iSAS estimates motions of all and each objects along with their semantic information, it could not be said as a simple replacement of what the captain does. By sequentially installing the iSAS on a small test ship and a demonstration ship during the project, we will simultaneously perform algorithm development and field verification to achieve reliability in the real environment. The iSAS can be used not only for autonomous ships but also for manned ships to enhance safety and reduce costs in the near future.