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서승범(SeungBeum Suh),강연식(Yeonsik Kang),노치원(Chi-Won Roh),강성철(Sung-Chul Kang) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.5
Autonomous Lane detection with vision is a difficult problem because of various road conditions, such as shadowy road surface, various light conditions, and the signs on the road. In this paper we propose a robust lane detection algorithm to overcome shadowy road problem using a statistical method. The algorithm is applied to the vision-based mobile robot system and the robot followed the lane with the lane following controller. In parallel with the lane following controller, the global position of the robot is estimated by the developed localization method to specify the locations where the lane is discontinued. The results of experiments, done in the region where the GPS measurement is unreliable, show good performance to detect and to follow the lane in complex conditions with shades, water marks, and so on.
KUVE (KIST 무인 주행 전기 자동차)의 자율 주행
전창묵(Changmook Chun),서승범(Seungbeum Suh),이상훈(Sanghoon Lee),노치원(Chi-won Roh),강성철(Sungchul Kang),강연식(Yeonsik Kang) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.7
This article describes the system architecture of KUVE (KIST Unmanned Vehicle Electric) and unmanned autonomous navigation of it in KIST. KUVE, which is an electric light-duty vehicle, is equipped with two laser range finders, a vision camera, a differential GPS system, an inertial measurement unit, odometers, and control computers for autonomous navigation. KUVE estimates and tracks the boundary of road such as curb and line using a laser range finder and a vision camera. It follows predetermined trajectory if there is no detectable boundary of road using the DGPS, IMU, and odometers. KUVE has over 80% of success rate of autonomous navigation in KIST.