• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.6
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• pp.55-59
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• 2008

For effective mobility control of UGV(unmanned ground vehicle), the terrain cover classification is an important component as well as terrain geometry recognition and obstacle detection. The vision based terrain cover classification algorithm consists of pre-processing, feature extraction, classification and post-processing. In this paper, we present a method to classify terrain covers based on the color and texture information. The color space conversion is performed for the pre-processing, the wavelet transform is applied for feature extraction, and the SVM(support vector machine) is applied for the classifier. Experimental results show that the proposed algorithm has a promising classification performance.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.766-771
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• 2004

In this paper, new exploration mobile robot is presented. This mobile robot, called Robhaz-6W, is able to overcome hazardous terrains, recognize three dimensional terrain information and generate a path toward the destination by itself. We develop the passive four bar linkage mechanism adoptable to such terrain without any active control and the real time stereo vision system for obstacle avoidance, a remote control and a path planning method. And the geometrical information is transmitted to the operator in the remote site via wireless LAN equipment. And finally, experimental results for the passive mechanism, the real time stereo vision system, the path planning are reported, which show the versatility of the proposed mobile robot system to carry out some tasks.

• Proceedings of the Korean Society of Computer Information Conference
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• 2023.01a
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• pp.261-262
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• 2023

거동이 불편한 사람의 경우 직접적인 제어보다 손동작으로 간접적인 제어를 함으로써 생활에 어려움이 줄고 편리한 사용이 가능하다. 사람을 인식 후 판단하고 제어가 가능할 뿐만 아니라 손동작 인식이 가능한 선풍기가 사람들에게 더 편하게 활용되고, 간단한 동작으로 제어할 수 있다. 본 논문에서는 Mediapipe를 활용하여 간단한 손동작을 바탕으로 실시간으로 풍속을 제어하고 사람을 인식하는 기능을 제공한다. 야외나 에어컨이 없는 장소의 경우 SLAM을 활용해 주행이 가능한 이동식 선풍기를 개발했다. 기존의 선풍기의 직접적인 조작 제어가 불편한 것이 누구나 쉽게 간단한 손동작을 통해 먼 거리에서의 인식을 통한 제어와 이동 기능이 기존 기능에 비해 향상됨을 기대할 수 있다.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.4
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• pp.361-367
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• 2010

This paper reports the development of a mobile robot for patrol using a single laser range finder. A Laser range finder is useful for outdoor environment regardless of illumination change or various weather conditions. In this paper we combined the motion control of the mobile robot and the algorithm for detecting the outdoor environment. For obstacle avoidance, we adopted the Vector Field Histogram algorithm. A laser range finder is mounted on the mobile robot and looking down the road with a small tilt angle. We propose an algorithm for detecting the surface of the road. The outdoor patrol robot platform is equipped with a DGPS system, a gyro-compass sensor, and a laser range finder. The proposed obstacle avoidance and road detection algorithms were experimentally tested in success.

• Journal of Digital Contents Society
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• v.18 no.1
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• pp.109-114
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• 2017

In our modern society, the utilization of the advanced drone which is capable of performing variety of tasks has been gradually increasing. In this paper, we present an application, similar to the prototype "Skycall" that had been introduced in the MIT Senseable City. To assess this concept, we have implemented a prototype of drone-based pedestrian navigation depending on the Android smartphone. Our system is not only able to guide the user in a very complicated place, where buildings are compacted, but also to block unauthorized visitors from accessing the facilities. And we discuss some problems we found and suggest the direction to address them.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.6
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• pp.585-593
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• 2006

In this paper, we propose a vision-based simultaneous localization and map-building (SLAM) algorithm. SLAM problem asks the location of mobile robot in the unknown environments. Therefore, this problem is one of the most important processes of mobile robots in the outdoor operation. To solve this problem, Extended Kalman filter (EKF) is widely used. However, this filter requires computational power (${\sim}O(N)$, N is the dimension of state vector). To reduce the computational complexity, we applied compressed extended Kalman filter (CEKF) to stereo image sequence. Moreover, because the mobile robots operate in the outdoor environments, we should estimate full d.o.f.s of mobile robot. To evaluate proposed SLAM algorithm, we performed the outdoor experiments. The experiment was performed by using new wheeled type mobile robot, Robhaz-6W. The performance results of CEKF SLAM are presented.