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탑승자 의도와 안전을 고려한 인간 중심의 스마트 주행 프레임워크(SNavF)
이래경(Lae-Kyoung Lee),오세영(Se-Young Oh) 대한전자공학회 2016 대한전자공학회 학술대회 Vol.2016 No.6
In this paper we propose a human centered smart navigation framework for the development of mobility assistance techniques to improve the quality of life of elder and disabled population using autonomous driving wheelchair in various indoor environments. Based on the mutually reinforcing structure of separate parts and an integrated structure based framework, it goes through a step-by-step process to ensure a comfortable and smooth drive to use"s desired destination for a given map. At first, we generate the safe driving map using estimated probabilistic risk factor with consideration to the driver"s intention (speed, safe driving) and the result of neural network-based map complexity analysis. And based on this, we adapt the path planning algorithm to plan the optimal global path among the probabilistic risk regions with adaptive motion control, as well as local path planning for real-time obstacle avoidance. Several experimental results demonstrate the excellence of our proposed navigation framework by ensuring the driving quality(safety and comport) for human centered navigation.
실내외 환경에서 안정적인 자율 주행을 위한 스마트 휠체어 시스템 및 주행 기술 개발
이래경(Lae-Kyoung Lee),오세영(Se-Young Oh) 대한전자공학회 2015 전자공학회논문지 Vol.52 No.7
본 논문에서는 사회적 약자(노약자, 장애인 등)들의 사회·경제적 삶의 질 향상을 위한 기술개발(Quality of Life Technology, QoLT)의 일환으로, 다양한 실내외 환경에 대해서 안정적이고 안전한 주행이 가능한 스마트 휠체어 시스템을 개발하고, 이를 효과적으로 운영하기 위한 주행 프레임워크를 제안한다. 특히, 휠체어 탑승자(장애인, 노약자)의 인지/조작능력 부족에 따른 자동/수동 주행 시 편의성과 안전성을 보장하기 위해, 먼저 환경에 최적화된 센서들을 기반으로 사용자 중심의 스마트 휠체어시스템을 개발하고, 다양한 주행 환경의 변화에 실시간 대응은 물론, 탑승시 안정성을 보장하기 위한 계층적 구조의 주행 프레임워크를 제안, 적용함으로써 보다 효과적인 운영이 가능하도록 하였다. 제안된 방법들에 대한 다양한 실험들을 통해 개발된 스마트 휠체어 시스템과 주행 시스템에 대한 안전성은 물론 효율성을 증명, 확인할 수 있었다. In the present study, as part of the technology development (Quality of Life Technology, QoLT) to improve the socio-economic status of people with disabilities as an extension of these studies, we propose the development of the smart wheelchair system and navigation technology for stable and safe driving in various environments. For the disabled and the elderly make driving easy and convenient with manual/autonomous driving condition, we firstly develop the user-oriented smart wheelchair system with optimized sensors for environment recognition, and then we propose a navigation framework of a hierarchical structure to ensure real-time response, as well as driving stability when traveling to various environmental changes, and to enable a more efficient operation. From the result of several independent experiments, we ensure efficiency and safety of smart wheelchair and its navigation system.
강인한 손가락 끝 추출과 확장된 CAMSHIFT 알고리즘을 이용한 자연스러운 Human-Robot Interaction 을 위한 손동작 인식
이래경(Lae-Kyoung Lee),안수용(Su-Yong An),오세영(Se-Young Oh) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.4
In this paper, we propose a robust fingertip extraction and extended Continuously Adaptive Mean Shift (CAMSHIFT) based robust hand gesture recognition for natural human-like HRI (Human-Robot Interaction), Firstly, for efficient and rapid hand detection, the hand candidate regions are segmented by the combination with robust YCbCr skin color model and haar-like features based adaboost. Using the extracted hand candidate regions, we estimate the palm region and fingertip position from distance transformation based voting and geometrical feature of hands. From the hand orientation and palm center position, we find the optimal fingertip position and its orientation. Then using extended CAMSHIFT, we reliably track the 2D hand gesture trajectory with extracted fingertip. Finally, we applied the conditional density propagation (CONDENSATION) to recognize the pre-defined temporal motion trajectories. Experimental results show that the proposed algorithm not only rapidly extracts the hand region with accurately extracted fingertip and its angle but also robustly tracks the hand under different illumination, size and rotation conditions. Using these results, we successfully recognize the multiple hand gestures.
실내외 환경에서 안정적인 자율 주행을 위한 스마트 휠체어 시스템 및 주행 기술 개발
이래경(Lae-Kyoung Lee),안수용(Su-Yong An),이종욱(Jong-Wook Lee),오세영(Se-Young Oh) 대한전기학회 2014 정보 및 제어 심포지엄 논문집 Vol.2014 No.10
In this paper, we propose the development of the smart wheelchair system and navigation technology for stable and safe driving in various environments. For the disabled and the elderly make driving easy and convenient with manual/autonomous driving condition, we present the structure of hierarchical navigation framework with a hybrid path planner in multi-sensor fusion technique. From the results of several independent experiments, we ensure efficiency and safety of smart wheel-chair and its navigation system.