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Mobile Robot Localization with Ceiling Landmark Position Prediction
진홍신,김성우,김형석 제어로봇시스템학회 2009 제어로봇시스템학회 합동학술대회 논문집 Vol.2009 No.12
A new indoor mobile robot localization method is presented. Robot recognizes well designed single color landmarks on the ceiling by vision system as reference to compute its precise position. The proposed likelihood prediction based method makes the robot estimate its position only based on the orientation of landmark, and using of single color landmarks, helps reduce the complexity of the landmark structure and makes it much more easy to be detected. This technique is applicable for navigation in an unlimited size of indoor space. Prediction scheme and localization algorithm are introduced. Experimental results prove that the method is useful.
Mobile Robot Localization using Ceiling Landmark Positions and Edge Pixel Movement Vectors
진홍신,아디카리 써얌프,김성우,김형석,Chen, Hong-Xin,Adhikari, Shyam Prasad,Kim, Sung-Woo,Kim, Hyong-Suk Institute of Control 2010 제어·로봇·시스템학회 논문지 Vol.16 No.4
A new indoor mobile robot localization method is presented. Robot recognizes well designed single color landmarks on the ceiling by vision system, as reference to compute its precise position. The proposed likelihood prediction based method enables the robot to estimate its position based only on the orientation of landmark.The use of single color landmarks helps to reduce the complexity of the landmark structure and makes it easily detectable. Edge based optical flow is further used to compensate for some landmark recognition error. This technique is applicable for navigation in an unlimited sized indoor space. Prediction scheme and localization algorithm are proposed, and edge based optical flow and data fusing are presented. Experimental results show that the proposed method provides accurate estimation of the robot position with a localization error within a range of 5 cm and directional error less than 4 degrees.
발달아장애아동의 놀이다움(playfulness)특성 연구
진홍신 한국정서학습장애아교육학회 2000 정서ㆍ행동장애연구 Vol.16 No.2
The purpose of this study is to find the characteristics of the source of motivation, the perception of control, the suspension of reality and the framing, which are the factors of playfulness of the children with developmental disabilities. The object of this study is a children with developmental disabilities. Playfulness of the children was observed and videotaped during free play and then observation results were analyzed with the Test of Playfulness. The results of this study ; First, the source of motivation of the children with developmental disabilities had more intrinsic motivation than extrinsic one. Second, the external motivation was nearly on the same level with the internal one in the perception of control of the children with developmental disabilities. Third, the suspension of reality of the children with developmental disabilities appeared a little free. Fourth, the framing of the children with developmental disabilities appeared a little free. According to these results, the playfulness of the children with developmental disabilities was between playfulness and nonplayfulness.
진홍신,김형석,왕실,서범수 제어로봇시스템학회 2008 제어로봇시스템학회 합동학술대회 논문집 Vol.2008 No.12
This paper presents a new mobile robot localization method for indoor robot navigation. The method uses hexagon distributed color-coded patches on the ceiling and a camera is installed on the robot facing the ceiling to recognize these patches. The proposed icell-coded mapi, with the use of only seven different kinds of color-coded landmarks distributed in hexagonal way, helps reduce the complexity of the landmark structure and the error of landmark recognition. This technique is applicable for navigation in an unlimited size of indoor space. The structure of the landmarks and the recognition method are introduced. And 2 rigid rules are also used to ensure the correctness of the recognition. Experimental results prove that the method is useful.
Precise Localization for Mobile Robot Based on Cell-coded Landmarks on the Ceiling
진홍신(Chen Hongxin),왕실(Wang Shi),양창주(Changju Yang),이준호(junho Lee),김형석(Hyongsuk Kim) 대한전자공학회 2009 電子工學會論文誌-CI (Computer and Information) Vol.46 No.2
실내 로봇의 자율 운행에 효과적인 새로운 로봇 위치 계산 방법을 제안하였다. 천정에 칼라 코드로 만든 위치 지시용 랜드마크를 부착하고, 천정을 향해 설치된 카메라에 의해 랜드마크가 인식되게하는 구조이다. 칼라 랜드마크에 사용한 코드는 9개의 다른 조합이 되도록 하여 상대적 위치를 지시하게 하며, 위치 계산이 모듈로 9 계산에 의해 용이하도록 하는 특별한 배치방법을 사용하였다. 천정에 부착된 랜드마크 인식을 기반으로 한 위치 계산 알고리즘이므로, 실내에서 사용하는 것을 특징으로 하며, 상대적인 위치 코드를 사용하므로 사용 넓이에 제한이 없다. 이 논문에서는 랜드마크의 구조와 인식방법을 소개하며, 위치계산 결과의 정확성 실험결과도 제시하였다. This paper presents a new mobile robot localization method for indoor robot navigation. The method uses color-coded landmarks on the ceiling and a camera is installed on the robot facing the ceiling. The proposed “cell-coded map”, with the use of only nine different kinds of color-coded landmarks distributed in a particular way, helps reduce the complexity of the landmark structure. This technique is applicable for navigation in an unlimited size of indoor space. The structure of the landmarks and the recognition method are introduced. And 2 rigid rules are also used to ensure the correctness of the recognition. Experimental results prove that the method is useful.
진홍신(Hongxin Chen),양창주(Changju Yang),이왕희(Wanghee Lee),김형석(Hyongsuk Kim) 大韓電子工學會 2010 電子工學會論文誌-SC (System and control) Vol.47 No.3
천장의 반복 무늬를 이용하여 로봇의 방향과 위치를 계산하는 새로운 알고리즘을 제안하였다. 방향 계산을 위해서 천장 영상으로부터 검출한 직선과 로봇의 현재 방향 간의 상대 각도를 계산한 후, 천장무늬에 포함된 여러 기준 직선의 방향들에 상기 상대각도를 더하여 로봇의 절대방향 후보 집합을 구성한다. 로봇 방향은 이 절대방향 후보 집합 중, 이전의 로봇 방향과 가장 가까운 방향으로 결정한다. 로봇의 위치도, 영상에서의 격자점의 화소 위치를 이용하여 로봇의 격자점과 로봇 간의 상대 위치를 계산 한 후, 이전 로봇 주변의 격자점들에 상기 상대위치 벡터를 더하여 절대 위치 후보 집합을 구성하며, 이들 중 이전 로봇의 위치와 가장 가까운 위치를 현재 로봇 위치로 결정한다. 제안한 알고리즘을 이용하여 구한 위치 및 방향의 정확성을 검증하기 위한 실험을 수행하였다. A novel algorithm which computes the orientations and the locations of mobile robots with repeating feature of ceiling textures is proposed. For orientation computation, the relative angle between a strait line on a ceiling image and the center line of the robot is firstly computed. The relative angle is added to the global reference angles of straight lines of the ceiling and a group of robot orientation candidates is composed. The robot orientation is determined from such orientation candidate group by choosing the closest one to the previous robot orientation. Similarly, the location of the robot is determined from the robot location candidate group by choosing the closest one to the previous robot location, where robot location candidate group is composed by adding the relative location of the robot to global locations of neighboring nodes of the previous robot locations. The experiment has been done to test the accuracy of the algorithm in computing locations and orientations.
Mobile Robot Localization Based on Hexagon Distributed Repeated Color Patches in Large Indoor Area
진홍신(Hongxin Chen),왕실(Shi Wang),한후석(Hoosek Han),김형석(Hyongsuk Kim) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.4
This paper presents a new mobile robot localization method for indoor robot navigation. The method uses hexagon distributed color-coded patches on the ceiling and a camera is installed on the robot facing the ceiling to recognize these patches. The proposed “cell-coded map”, with the use of only seven different kinds of color-coded landmarks distributed in hexagonal way, helps reduce the complexity of the landmark structure and the error of landmark recognition. This technique is applicable for navigation in an unlimited size of indoor space. The structure of the landmarks and the recognition method are introduced. And 2 rigid rules are also used to ensure the correctness of the recognition. Experimental results prove that the method is useful.
Mobile Robot Localization using Ceiling Landmark Positions and Edge Pixel Movement Vectors
Hongxin Chen(진홍신),Shyam Prasad Adhikari(아디카리 써얌프),Sungwoo Kim(김성우),Hyongsuk Kim(김형석) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.4
A new indoor mobile robot localization method is presented. Robot recognizes well designed single color landmarks on the ceiling by vision system, as reference to compute its precise position. The proposed likelihood prediction based method enables the robot to estimate its position based only on the orientation of landmark.The use of single color landmarks helps to reduce the complexity of the landmark structure and makes it easily detectable. Edge based optical flow is further used to compensate for some landmark recognition error. This technique is applicable for navigation in an unlimited sized indoor space. Prediction scheme and localization algorithm are proposed, and edge based optical flow and data fusing are presented. Experimental results show that the proposed method provides accurate estimation of the robot position with a localization error within a range of 5 cm and directional error less than 4 degrees.
왕실,진홍신,이준호,임해평,김형석,김종만,Wang, Shi,Chen, Hongxin,I, Jun-Ho,Lin, Haiping,Kim, Hyong-Suk,Kim, Jong-Man The Institute of Electronics and Information Engin 2008 電子工學會論文誌-CI (Computer and Information) Vol.38 No.12
3 차원 정보로부터 정확한 에지를 추출하고 푸리 변환하여 물체를 인식할 수 있는 고 효율의 물체 인식방법을 제안하였다. 물체의 윤곽은 인식에 유용한 많은 정보를 포함하고 있지만, 정확한 윤곽정보를 얻기가 어려우며, 정확한 윤곽정보를 얻었다고 하더라도 물체의 크기나 방향 마다 윤곽이 달라지기 때문에 물체 인식에 획기적 대안으로 활용되지 못하고 있다. 제안한 물체 인식 알고리즘은 1) 레이저 스캔 디바이스를 사용하여 얻는 3 차원 물체정보로부터 정밀한 물체 윤곽을 획득하고 2) 크기 및 회전 불변한 푸리에 표시 자를 이용하여 윤곽을 표현함으로써, 필요 데이터 베이스의 크기를 대폭 줄인다. 이렇게 얻어진 물체에 대한 푸리에 표식자 정보는 미리 준비된 푸리에 표식자 데이터 베이스로부터 최적 정합되는 물체를 찾아 인식한다. 이 알고리즘은 MPEG7 Part B의 방대한 영상 데이터 베이스를 대상으로 실험하였으며, 그에 대한 결과를 논문에 포함시켰다. A high performance object recognition algorithm using Fourier description of the 3D information of the objects is proposed. Object boundaries contain sufficient information for recognition in most of objects. However, it is not well utilized as the key solution of the object recognition since obtaining the accurate boundary information is not easy. Also, object boundaries vary highly depending on the size or orientation of object. The proposed object recognition algorithm is based on 1) the accurate object boundaries extracted from the 3D shape which is obtained by the laser scan device, and 2) reduction of the required database using the size and rotational invariant feature of the Fourier Descriptor. Such Fourier information is compared with the database and the recognition is done by selecting the best matching object. The experiments have been done on the rich database of MPEG 7 Part B.
Development of the Various Functions for Autonomous Golf Ball Collection Robot
마지강,진홍신,샴 아디카러,김성우,김형석 제어로봇시스템학회 2009 제어로봇시스템학회 합동학술대회 논문집 Vol.2009 No.12
This paper presents a new global vision based system for autonomous golf ball collection robot. In this system, we use a global camera, which delivers images to the server in real time. We also design a specific robot mark that enables measurement of robot locations and orientation directly in the acquired images by using hue filter. After effective regions are determined by saturation filter, a more optimal path will be calculated for the robot to perform. The developed system has higher time efficiency and accuracy, which was verified by carefully performed experiments.