• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.67 no.7
• /
• pp.903-909
• /
• 2018

We propose laser scanner sensor system based walking pattern and tracking method of multiple human. This system uses laser scanners sensors and is applicable to wide and crowded area such as hospital and medical care center. The primary objective of this research is to promote the development of robust, repeatable and transferable software for security system that can automatically detect, track and follow people in public area. We developed the method of human identification for this system. Our method is following: 1. Best-walking pattern data are obtained by the help of human position and direction data obtained by laser scanners. 2. Human identification is conducted by calculating the correlation between the step length of walking human. It becomes possible to conduct human identification even in crowded scenes by estimating the movements of waling human' feet are periodic. In the experiment in the station, some effectiveness of this method became clear.

• Journal of Navigation and Port Research
• /
• v.28 no.4
• /
• pp.323-331
• /
• 2004

This paper introduces a novel approach that can provide the three dimensional information about the movement of a spreader by using two CCD cameras and a laser distance measuring unit in order to derive ALS (Automatic Landing System) in the crane used at a harbor. So far a kind of 2D Laser scanner sensor or laser distance measuring units are used as comer detectors for the geometrical matching between the spreader and a container. Such systems provide only two dimensional information which is not enough for an accurate and fast ALS. In addition to this deficiency in performance, the price of the system is too high to adapt to the ALS. Therefore, to overcome these defects, we proposed a novel method to acquire the three dimensional spreader information using two CCD cameras and a laser distance measuring unit. To show the efficiency of proposed method, real experiments are performed to show the improvement of accuracy in distance measurement by fusing the sensory information of the CCD cameras and a laser distance measuring unit.

• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.8
• /
• pp.656-663
• /
• 2001

This paper presents a sensor fusion method to recognize a cylindrical object a CCD camera, a laser slit beam and ultrasonic sensors on a pan/tilt device. For object recognition with a vision sensor, an active light source projects a stripe pattern of light on the object surface. The 2D image data are transformed into 3D data using the geometry between the camera and the laser slit beam. The ultrasonic sensor uses an ultrasonic transducer array mounted in horizontal direction on the pan/tilt device. The time of flight is estimated by finding the maximum correlation between the received ultrasonic pulse and a set of stored templates - also called a matched filter. The distance of flight is calculated by simply multiplying the time of flight by the speed of sound and the maximum amplitude of the filtered signal is used to determine the face angle to the object. To determine the position and the radius of cylindrical objects, we use a statistical sensor fusion. Experimental results show that the fused data increase the reliability for the object recognition.

• Korean Journal of Construction Engineering and Management
• /
• v.23 no.1
• /
• pp.64-72
• /
• 2022

The retaining wall structure is essential for construction work that performs underground excavation. Displacement management of the retaining wall structure is important regardless of the size of the construction. However, in the case of small-scale construction sites with an excavation depth of less than 10m, displacement management of retaining wall structure not properly performed due to problems such as 1) companies' smallness, 2) lack of capacity of construction managers, 3) complexity of installation, dismantling and displacement of measuring instruments. As a result of analyzing previous research, it was analyzed that it is difficult to apply this to a small - scale construction site because most of the previous research has problems in using an expensive 3D scanner or installing many measuring instruments. This study aims to propose a conceptual design of a displacement measurement system for retaining wall structure based on laser sensor and to verify the displacement recognition performance of core technology applied to the conceptual design. A conceptual design was proposed using a 2D laser scanner. As a result of verifying the displacement recognition of the 2D laser scanner, a displacement of 15mm was analyzed to be sufficiently understandable. In the future, if the proposed conceptual design is developed and applied to the small-scale construction site, it is thought that it will contribute to the reduction of safety accidents at small-scale construction sites.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.23 no.3
• /
• pp.247-253
• /
• 2019

In this paper, we present a new method for real-time tracking of human walking around a laser sensor system. The method converts range data with $r-{\theta}$ coordinates to a 2D image with x-y coordinates. Then human tracking is performed using human's features, i.e. appearances of human walking pattern, and the input range data. The laser sensor based human tracking method has the advantage of simplicity over conventional methods which extract human face in the vision data. In our method, the problem of estimating 2D positions and orientations of two walking human's ankle level is formulated based on a moving trajectory algorithm. In addition, the proposed tracking system employs a HMM to robustly track human in case of occlusions. Experimental results using a real system demonstrate usefulness of the proposed method.

• Journal of the Korean Society for Nondestructive Testing
• /
• v.29 no.4
• /
• pp.283-292
• /
• 2009

Laser-based ultrasonic sensing requires the probe with fixed fecal length, but this requirement is not essential in laser-based ultrasonic generation. Based on this fact, we designed a pulsed laser-based ultrasonic wave propagation imaging (UWPI) system with a tilting mirror system for rapid scanning of target, and an in-line band-pass filtering capable of ultrasoaic mode selection. 1D-temporal averaging, 2D-spatial averaging, and 3D-data structure building algorithms were developed far clearer results allowing fur higher damage detectability. The imaging results on a flat stainless steel plate were presented in movie and snapshot formats which showed the propagation of ultrasound visible as a concentric wavefield emerging from the location of an ultrasonic sensor. A hole in the plate with a diameter of 1 mm was indicated by the scattering wavefields. The results showed that this robust UWPI system is independent of focal length and reference data requirements.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.65 no.1
• /
• pp.108-111
• /
• 2016

We propose the method for measuring sensitivity of optical receiver of a long-range laser range finder in real-time. The sensitivity of the detector can be calculated using the detected voltage of the reference sensor, the area of the reference sensor and the transmittance ratio of neutral density filters. To evaluate the performance of the proposed method, we implemented a system and performed experiments. As a result, this system can be measured from 2nW to $113{\mu}W$. With this system, we measured the sensitivity of 37nW and 7nW with PIN PD and APD sample, respectively. This system has the advantage for the performance test of an optical sensor module in the long-range laser range finder.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2003.06a
• /
• pp.925-928
• /
• 2003

In this paper, a precision measuring machine for large sized axial fans of cooling towers are developed. A laser sensor is used as a measuring device and aluminum profiles and stepping motors are engaged into the system as frame structure and driving devices respectively. 3-dimensional measuring data are compared to the design data to compute the distortion of the axial fans. Two distortions such as the axis of the fan and the airfoils along the axis are introduced to define the shape precision of axial fans. Genetic algorithm is used to solve the optimization problem during computing the distortion. Results of distortion are displayed 3 dimensionally in a solid-modeler as well as 2-D drawings to help users find it with case.

• Korean Journal of Construction Engineering and Management
• /
• v.25 no.3
• /
• pp.68-82
• /
• 2024

The planning stage of laser scanning is crucial for acquiring high-quality 3D source data. It involves assessing the target space's environment and formulating an effective measurement strategy. However, existing practices often overlook on-site conditions, with decisions on scanner deployment and scanning locations relying heavily on the operators' experience. This approach has resulted in frequent modifications to scanning locations and diminished 3D data quality. Previous research has explored the selection of optimal scanner locations and conducted preliminary reviews through simulation, but these methods have significant drawbacks. They fail to consider scanner inaccuracies, do not support the use of multiple scanners, rely on less accurate 2D drawings, and require specialized knowledge in 3D modeling and programming. This study introduces an optimization technique for laser scanning planning using 3D simulation to address these issues. By evaluating the accuracy of scan data from various laser scanners and their positioning for scanning a retaining wall structure in a small-scale building, this method aids in refining the laser scanning plan. It enhances the decision-making process for end-users by ensuring data quality and reducing the need for plan adjustments during the planning phase.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1996.11a
• /
• pp.296-300
• /
• 1996

This paper presents 3D position estimation algorithm with the images of 2D vision sensors which issues Red Laser Slit light and recieves the line images. Since the sensor usually measures 2D position of corner(or edge) of a body and the measured point is not fixed in the body, the additional information of the corner(or edge) is used. That is, corner(or edge) line is straight and fixed in the body. For the body which moves in a plane, the Transformation matrix between the body coordinate and the reference coordinate is analytically found. For the 3D motion body, linearization technique and least mean squares method are used.