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실외 환경에서의 이동로봇의 자율 주행을 위한 복셀 기반 3차원 확률맵 생성 방법
안승욱,최윤근,심인욱,김시종,정명진 제어로봇시스템학회 2011 제어로봇시스템학회 국내학술대회 논문집 Vol.2011 No.5
To recognize the surrounding environment is one of the fundamental requirements for mobile robots to perform navigation tasks. In order to do these tasks, the robot should know information about passable space and compact representation is required for fast computational performance. However, in 3D mapping, especially in outdoor mapping, huge amounts of data are handled and computational cost may increase. In this paper, we represented the map using voxel grids and made to provide information about free, occupied, and unknown space to each voxel grids. As a result, the map was compact and provided reliable probabilistic information. These results show that this mapping method could be utilized in mobile robot navigation.
무인 자동차를 위한 기하학적 특징 복셀을 이용하는 도시 환경의 구조물 인식 및 3차원 맵 생성 방법
최윤근(Yungeun Choei),심인욱(Inwook Shim),안승욱(Seunguk Ahn),정명진(Myung Jin Chung) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.5
Recognition of structures in urban environments is a fundamental ability for unmanned ground vehicles. In this paper we propose the geometrical featured voxel which has not only 3-D coordinates but also the type of geometrical properties of point cloud. Instead of dealing with a huge amount of point cloud collected by range sensors in urban, the proposed voxel can efficiently represent and save 3-D urban structures without loss of geometrical properties. We also provide an urban structure classification algorithm by using the proposed voxel and machine learning techniques. The proposed method enables to recognize urban environments around unmanned ground vehicles quickly. In order to evaluate an ability of the proposed map representation and the urban structure classification algorithm, our vehicle equipped with the sensor system collected range data and pose data in campus and experimental results have been shown in this paper.
무인 차량을 위한 센서 시스템 개발 및 3차원 월드 모델링
김시종(Sijong Kim),강정원(Jungwon Kang),최윤근(Yungeun Choe),박상운(Sang Un Park),심인욱(Inwook Shim),안승욱(Seunguk Ahn),정명진(Myung Jin Chung) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.6
This paper describes a novel sensor system for 3D world modeling of an autonomous vehicle in large-scale outdoor environments. When an autonomous vehicle performs path planning and path following, well-constructed 3D world model of target environment is very important for analyze the environment and track the determined path. To generate well-construct 3D world model, we develop a novel sensor system. The proposed novel sensor system consists of two 2D laser scanners, two single cameras, a DGPS (Differential Global Positioning System) and an IMU (Inertial Measurement System). We verify the effectiveness of the proposed sensor system through experiment in large-scale outdoor environment.