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1D 라이다와 머신러닝을 활용한 팔레트 홀 중심 측정기 개발
김경수(Kyoungsu Kim),최경호(Kyungho Choi),전원일(Wonil Jeon),우상하(Sangha Woo),이대엽(Daeyup Lee) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.11
Since it is important to measure and recognize the center position of a pallet hole in unmanned logistics equipment such as an autonomous forklift, devices were made in this work to predict the center of the hole using a one-dimensional lidar and a performance evaluation was performed. The hole boundaries were predicted using the support vector machine classifier from the data measured using 1 D lidar, from which the hole center coordinates were estimated. As a result of the study, it can be seen that it shows high accuracy even with a small training data set. And, it is possible to recognize and predict the center of the pallet hole with high accuracy using a low-cost lidar.