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단일 카메라를 이용한 이동 로봇의 실시간 위치 추정 및 지도 작성에 관한 연구
정대섭(Dae-Seop Jung),최종훈(Jong-Hoon Choi),장철웅(Chul-Woong Jang),장문석(Mun-Suk Jang),공정식(Jung-Shik Kong),이응혁(Eung-Hyuk Lee),심재홍(Jae-Hong Shim) 대한전기학회 2006 대한전기학회 학술대회 논문집 Vol.2006 No.10
The most important factor of mobile robot is to build a map for surrounding environment and estimate its localization. This paper proposes a real-time localization and map building method through 3-D reconstruction using scale invariant feature from monocular camera. Mobile robot attached monocular camera looking wall extracts scale invariant features in each image using SIFT(Scale Invariant Feature Transform) as it follows wall. Matching is carried out by the extracted features and matching feature map that is transformed into absolute coordinates using 3-D reconstruction of point and geometrical analysis of surrounding environment build, and store it map database. After finished feature map building, the robot finds some points matched with previous feature map and find its pose by affine parameter in real time. Position error of the proposed method was maximum. 8㎝. and angle error was within 10°.
이동로봇을 위한 RFID tag 기반의 위치 오차 보정 기법
최종훈(Jong-Hoon Choi),정대섭(Dae-Seop Jung),정기호(Ki-Ho Jung),심현민(Hyun-Min Shim),권오상(Oh-Sang Kwon),이응혁(Eung-Hyuk Lee) 대한전기학회 2006 대한전기학회 학술대회 논문집 Vol.2006 No.10
In this paper, Correct problem in dead reckoning system and proposed about position error revision techniques of mobile robot to use RFID tag for position awareness. With the dead reckoning system, as the accumulation of error are unavoidable because of accumulation of informations as the time passage, so it is impossible to get correct information about posture, including current direction, movement distance, etc. As one of compensation method, the suggested method is that after selecting special area (corridor), compensate absolute location information by arranging two line of RFID tag along two side of corridor. Through this suggested method, it could be used when robot wants 1.0 move in limited areas.