• Title/Summary/Keyword: 다중 장애물

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Indoor Navigation System for Visually Impaired Persons Using Camera and Range Sensors (카메라와 거리센서를 이용한 시각장애인 실내 보행안내 시스템)

  • Lee, Jin-Hee;Shin, Byeong-Seok
    • Journal of Korea Multimedia Society
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    • v.14 no.4
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    • pp.517-528
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    • 2011
  • In this paper, we propose an indoor navigation system that can do walk safely to the destination for visually impaired persons. The proposed system analyzes images taken with the camera finds the ID of the marker to identify the absolute position of the pedestrian. Using the distance and angle obtained from IMU(Inertial Measurement Unit) accelerometer sensor and a gyro sensor, the system decides the relative position of a pedestrian for the previous position to determine the next direction. At the same time, we simplify a complex spatial structure in front of user by means of ultrasonic sensors and determine an avoidance direction by estimating the patterns. Then, it uses a few IR(Infrared Rays) sensors to detect stair. Our system offers position of visually impaired persons incorporating multiple sensors and helps users to arrive to destination safely.

A Study on the Propagation Characteristics of Wireless Communication System for Firefighters in Kimhae Site (김해지역 소방무선통신시스템의 전파특성 연구)

  • Lee, Su-Bin;Ko, Bong-Jin
    • Journal of Advanced Navigation Technology
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    • v.19 no.2
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    • pp.168-174
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    • 2015
  • Wireless communication system for firefighters has an important role as the last communication method between the commander and the firefighters in disaster sites like fire. But the operation of Gyeongnam wireless communication system is installed, and maintained and controlled without criteria for the selection of a transmitting station and the analysis of propagation environment because of the lack of budget and the absence of professional personnel. To improve the performance of the radio station, this paper theoretically calculated free space loss of UHF 400 MHz band used by all firefighters in Gyeongnam and diffractions caused by single and multiple obstacles and computed the error after comparing the results of the actual measurement to those of simulation with FRAS operated by KFL. In the results, Deygout model was the most consistent with the actual measurement for 400MHz band in Kimhae site.

Depth Generation using Bifocal Stereo Camera System for Autonomous Driving (자율주행을 위한 이중초점 스테레오 카메라 시스템을 이용한 깊이 영상 생성 방법)

  • Lee, Eun-Kyung
    • The Journal of the Korea institute of electronic communication sciences
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    • v.16 no.6
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    • pp.1311-1316
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    • 2021
  • In this paper, we present a bifocal stereo camera system combining two cameras with different focal length cameras to generate stereoscopic image and their corresponding depth map. In order to obtain the depth data using the bifocal stereo camera system, we perform camera calibration to extract internal and external camera parameters for each camera. We calculate a common image plane and perform a image rectification for generating the depth map using camera parameters of bifocal stereo camera. Finally we use a SGM(Semi-global matching) algorithm to generate the depth map in this paper. The proposed bifocal stereo camera system can performs not only their own functions but also generates distance information about vehicles, pedestrians, and obstacles in the current driving environment. This made it possible to design safer autonomous vehicles.

Hydraulic Experiment on Roughness Coefficient of PE pipe (폴리에틸렌관의 조도계수에 관한 수리모형실험)

  • Dongwoo Ko;Byeong Wook Lee;Jae-Seon Yoon;Hyun-Gu Song
    • Proceedings of the Korea Water Resources Association Conference
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    • 2023.05a
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    • pp.288-288
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    • 2023
  • 도로, 철도 등의 횡단통로, 오폐수관로, 지하배수관 등 연약지반에서 상재하중과 부등침하에 의한 파괴 위험을 줄이기 위해 구조적인 안전성과 내구성이 개선된 다양한 관로들이 활용되고 있다. 관은 매설특성에 따라 콘크리트관, 도관, 합성수지관, 덕타일 주철관, 파형강관, 유리섬유 강화 플라스틱과 폴리에스테르수지 콘크리트관 등의 종류로 구분된다(환경부, 2017). 수리설계 시 이러한 관의 단면 규모 결정 및 흐름 특성을 파악하기 위해 관수로 유량측정에 이용되는 Manning의 경험식을 이용하고 있으며, 관로의 주요 재질에 따른 다양한 조도계수가 제시되어 있다. 새로운 재질을 이용하여 제작된 관은 수리실험을 통해 조도계수를 결정하는 것이 바람직하지만, 조도계수 실험은 대규모의 실험시설과 유량공급이 요구되기 때문에 여러 한계가 있다. PE관의 경우, 미국의 ASTM 표준에 의해 저밀도 폴리에틸렌(LDPE), 선형 저밀도 폴리에틸렌(LLDPE), 고밀도 폴리에틸렌(HDPE) 등으로 분류되는데 본 연구에서는 HDPE 재질의 서로 직경이 다른 다중벽관 PE관을 대상으로 조도계수를 결정하기 위한 현장 실규모 수리실험을 수행하였다. 본 실험에서는 식생, 수로의 불규칙성, 수로노선, 침전과 세굴, 장애물, 계절적 변화, 부유물질과 소류사는 무시되며 표면조도, 관의 크기와 형상, 수위와 유량이 조도계수에 영향을 미치는 주요 인자라고 할 수 있다. 수리실험은 실물모형(Prototype)으로 한국농어촌공사 농어촌연구원의 대형수리모형실험장에서 수행되었으며. 길이 24 m, 직경 150 mm의 PE 관은 고정식 개수로, 직경 800 mm의 관은 대형유사순환수로에 각각 설치되었다. 관로의 전면에 차폐막을 설치하여 상류부 수위를 안정시킨 상태에서 실험을 수행하였고, 차폐막으로부터 하류방향으로 약 7 m(측정기준지점), 11 m, 13 m, 15 m, 17 m 떨어진 곳에서 각각 수위와 유속을 측정하였다. 실험 결과, φ150관은 직경대비 수심이 클수록 조도계수가 감소하는 경향이 나타났고, φ800관은 직경대비 수심의 변화에 따른 조도계수의 경향이 크게 드러나지 않았다. 결론적으로 PE관의 조도계수는 수심별로 변화하는 것으로 나타났으며, 특정 수심을 지나면 조도계수가 다시 감소할 것으로 판단된다.

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Analysis of GPS signal environment at DGNSS stations (DGNSS 기준국 관측환경 분석)

  • Sohn, Dong-Hyo;Park, Kwan-Dong;Won, Ji-Hye;Choi, Yong-Kwon;Kee, Chang-Don
    • Journal of Navigation and Port Research
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    • v.35 no.8
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    • pp.625-629
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    • 2011
  • In this study, we analyzed the signal environment of 17 DGNSS stations operated by DGPS Central Office through TEQC quality checking, visibility analysis and site visits. With TEQC, we produced times series of four indices of TEQC quality checking: observation ratio, L1 pseudorange multipath, L2 pseudorange multipath, and the frequency of cycle slip events. From visibility analysis, the directions where missing observations are happening were identified and the result was verified through onsite investigation. Without considering TEQC indices at the six sites(Palmido, Eochungdo, Geomundo, Pyeongchang, Seongju, and Chungju), the average TEQC indices were: 98% observation ratio, 0.19m of L1 pseudorange multipath, 0.71m of L2 pseudorange multipath, and 1.3 cycle slips per 1000 observations. The observation ratios at Palmido and Eochungdo were low. It was found that receiver settings were incorrect so that they could track the P2 signal of GPS satellites with L2C capability. No signal-blocking obstacles were found around the Geomundo station except the lighthouse. Thus, we guess that the poor TEQC indices at the site are believed to be caused by problems in the GPS hardware or cables. The low observation ratio at Pyeongchang is being caused by the surrounding hills blocking the satellite view from the south to the northwest directions. Even though all of four TEQC indices were bad at Seongju and Chungju stations, we found that the signal reception environment at the two sites is in good condition. We think that the quality indices got poor probably because of malfunctioning equipment. So, further investigation is needed for the Seongju and Chungju sites.

Scaling Attack Method for Misalignment Error of Camera-LiDAR Calibration Model (카메라-라이다 융합 모델의 오류 유발을 위한 스케일링 공격 방법)

  • Yi-ji Im;Dae-seon Choi
    • Journal of the Korea Institute of Information Security & Cryptology
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    • v.33 no.6
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    • pp.1099-1110
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    • 2023
  • The recognition system of autonomous driving and robot navigation performs vision work such as object recognition, tracking, and lane detection after multi-sensor fusion to improve performance. Currently, research on a deep learning model based on the fusion of a camera and a lidar sensor is being actively conducted. However, deep learning models are vulnerable to adversarial attacks through modulation of input data. Attacks on the existing multi-sensor-based autonomous driving recognition system are focused on inducing obstacle detection by lowering the confidence score of the object recognition model.However, there is a limitation that an attack is possible only in the target model. In the case of attacks on the sensor fusion stage, errors in vision work after fusion can be cascaded, and this risk needs to be considered. In addition, an attack on LIDAR's point cloud data, which is difficult to judge visually, makes it difficult to determine whether it is an attack. In this study, image scaling-based camera-lidar We propose an attack method that reduces the accuracy of LCCNet, a fusion model (camera-LiDAR calibration model). The proposed method is to perform a scaling attack on the point of the input lidar. As a result of conducting an attack performance experiment by size with a scaling algorithm, an average of more than 77% of fusion errors were caused.

Development and Performance Evaluation of Multi-sensor Module for Use in Disaster Sites of Mobile Robot (조사로봇의 재난현장 활용을 위한 다중센서모듈 개발 및 성능평가에 관한 연구)

  • Jung, Yonghan;Hong, Junwooh;Han, Soohee;Shin, Dongyoon;Lim, Eontaek;Kim, Seongsam
    • Korean Journal of Remote Sensing
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    • v.38 no.6_3
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    • pp.1827-1836
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    • 2022
  • Disasters that occur unexpectedly are difficult to predict. In addition, the scale and damage are increasing compared to the past. Sometimes one disaster can develop into another disaster. Among the four stages of disaster management, search and rescue are carried out in the response stage when an emergency occurs. Therefore, personnel such as firefighters who are put into the scene are put in at a lot of risk. In this respect, in the initial response process at the disaster site, robots are a technology with high potential to reduce damage to human life and property. In addition, Light Detection And Ranging (LiDAR) can acquire a relatively wide range of 3D information using a laser. Due to its high accuracy and precision, it is a very useful sensor when considering the characteristics of a disaster site. Therefore, in this study, development and experiments were conducted so that the robot could perform real-time monitoring at the disaster site. Multi-sensor module was developed by combining LiDAR, Inertial Measurement Unit (IMU) sensor, and computing board. Then, this module was mounted on the robot, and a customized Simultaneous Localization and Mapping (SLAM) algorithm was developed. A method for stably mounting a multi-sensor module to a robot to maintain optimal accuracy at disaster sites was studied. And to check the performance of the module, SLAM was tested inside the disaster building, and various SLAM algorithms and distance comparisons were performed. As a result, PackSLAM developed in this study showed lower error compared to other algorithms, showing the possibility of application in disaster sites. In the future, in order to further enhance usability at disaster sites, various experiments will be conducted by establishing a rough terrain environment with many obstacles.

Analysis on the Performance Degradations of Chung-Ju DGPS Reference Station by Radio Environment (전파환경에 의한 DGPS 충주 기준국의 성능저하 분석)

  • Park, SulGee;Han, YoungHoon;Park, SangHyun;Choi, YongKwon;Lee, Sang Jeong
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.20 no.9
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    • pp.1822-1829
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    • 2016
  • DGPS Reference station is established in Korea for improvement of GPS navigation accuracy and needs of integrity. Recently, DGPS stations provide user positioning information on land as well as ocean. However, this paper investigated visibility and interference environment for performance degradation of Chung-ju DGPS reference station. In case of Young-do reference station, visibility and interference environment were satisfied with reference standard. In case of Chung-ju reference station, visibility was satisfied with 7 degree elevation angle. However, interference environment was not satisfied with reference standard of -50dBm. This paper proposed time differential measurement analysis method excluding error of signal noise for analyzing measurement error. Chung-ju reference station measurement analysis result is three times the error than on Young-do in Dec, 2015. In addition, this paper has confirmed measurement performance degradations because of reference station equipment problem. Future study will be carried out performance analysis of 17 DGPS reference station.

Measurement of Vertical-Directional DTV Signal Level Using a Multi-Copter (멀티콥터를 이용한 수직방향 DTV 신호 레벨 측정)

  • Park, Hyung-Do;Lim, Sol;Kim, Dae Jin
    • Journal of Broadcast Engineering
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    • v.19 no.3
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    • pp.372-384
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    • 2014
  • DTV field tests have been performed to measure field strength and to check reception ratio on indoor and outdoor sites. They use an antenna of 9m to measure DTV signal in case of outdoor measurement on the road. Modern skyscrapers require the analysis of vertical-directional wave propagation by measuring vertical-directional DTV signal. Even if the field strength is above the reception threshold of $43dB{\mu}V/m$, the reception is impossible in case of strong multi-path or high impulse noise. So, vertical-directional field measurement is essential in environment of tall buildings. In this paper, we developed an octo type multi-copter to measure vertical-directional DTV signal level. A compact and portable DTV signal level meter, an antenna, a microwave transmitter for data transmission, and a recording equipment are equipped in the multi-copter. Three different sites are selected to test the measurement system. Developed measurement system using the multi-copter is very useful in measuring vertical-directional DTV signal, especially in apartments, non-accessible area by vehicles, and forbidden areas.

Proposal for Research Model of High-Function Patrol Robot using Integrated Sensor System (통합 센서 시스템을 이용한 고기능 순찰 로봇의 연구모델 제안)

  • Byeong-Cheon Yoo;Seung-Jung Shin
    • The Journal of the Institute of Internet, Broadcasting and Communication
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    • v.24 no.3
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    • pp.77-85
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    • 2024
  • In this dissertation, a we designed and implemented a patrol robot that integrates a thermal imaging camera, speed dome camera, PTZ camera, radar, lidar sensor, and smartphone. This robot has the ability to monitor and respond efficiently even in complex environments, and is especially designed to demonstrate high performance even at night or in low visibility conditions. An orbital movement system was selected for the robot's mobility, and a smartphone-based control system was developed for real-time data processing and decision-making. The combination of various sensors allows the robot to comprehensively perceive the environment and quickly detect hazards. Thermal imaging cameras are used for night surveillance, speed domes and PTZ cameras are used for wide-area monitoring, and radar and LIDAR are used for obstacle detection and avoidance. The smartphone-based control system provides a user-friendly interface. The proposed robot system can be used in various fields such as security, surveillance, and disaster response. Future research should include improving the robot's autonomous patrol algorithm, developing a multi-robot collaboration system, and long-term testing in a real environment. This study is expected to contribute to the development of the field of intelligent surveillance robots.