• 제목/요약/키워드: Artificial Landmarks

검색결과 51건 처리시간 0.024초

실내 이동 로봇을 위한 자연 표식과 인공 표식을 혼합한 위치 추정 기법 개발 (Development of Localization using Artificial and Natural Landmark for Indoor Mobile Robots)

  • 안준우;신세호;박재흥
    • 로봇학회논문지
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    • 제11권4호
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    • pp.205-216
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    • 2016
  • The localization of the robot is one of the most important factors of navigating mobile robots. The use of featured information of landmarks is one approach to estimate the location of the robot. This approach can be classified into two categories: the natural-landmark-based and artificial-landmark-based approach. Natural landmarks are suitable for any environment, but they may not be sufficient for localization in the less featured or dynamic environment. On the other hand, artificial landmarks may generate shaded areas due to space constraints. In order to improve these disadvantages, this paper presents a novel development of the localization system by using artificial and natural-landmarks-based approach on a topological map. The proposed localization system can recognize far or near landmarks without any distortion by using landmark tracking system based on top-view image transform. The camera is rotated by distance of landmark. The experiment shows a result of performing position recognition without shading section by applying the proposed system with a small number of artificial landmarks in the mobile robot.

위치추정을 위한 인공표식 설계 및 인식 (Artificial Landmark Design and Recognition for Localization)

  • 김시용;이수용;송재복
    • 로봇학회논문지
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    • 제3권2호
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    • pp.99-105
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    • 2008
  • To achieve autonomous mobile robot navigation, accurate localization technique is the fundamental issue that should be addressed. In augmented reality, the position of a user is required for location-based services. This paper presents indoor localization using infrared reflective artificial landmarks. In order to minimize the disturbance to the user and to provide the ease of installation, the passive landmarks are used. The landmarks are made of coated film which reflects the infrared light efficiently. Infrared light is not visible, but the camera can capture the reflected infrared light. Once the artificial landmark is identified, the camera's relative position/orientation is estimated with respect to the landmark. In order to reduce the number of the required artificial landmarks for a given environment, the pan/tilt mechanism is developed together with the distortion correction algorithm.

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이동로봇의 저비용 위치추정을 위한 효율적인 인공표식 배치기법 (Efficient Placement of Artificial Landmarks for Low-cost Localization of a Mobile Robot)

  • 김지웅;정우진
    • 전기전자학회논문지
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    • 제17권4호
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    • pp.434-439
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    • 2013
  • 인공표식은 이동로봇의 위치추정에서 불확실성을 감소시키기 위해 널리 사용되어 왔다. 또한, 사용되는 인공표식의 수가 증가함에 따라 위치추정 비용이 증가하기 때문에, 인공표식의 효율적 배치를 위한 연구는 핵심적인 이슈중 하나로서 여겨져 왔다. 따라서 본 논문은 운동모델과 센서모델의 불확실성 특성을 고려함으로써 인공표식들을 효율적으로 배치하기 위한 방법을 제안한다. 운동모델과 센서모델은 서로 다른 불확실성 분포를 가지기 때문에, 최종 불확실성은 두 가지 불확실성의 효율적 조합을 통해 크게 감소될 수 있다. 제안한 기법의 유용성은 시뮬레이션 결과에 의해 입증된다.

인공표식과 자연표식을 결합한 강인한 자기위치추정 (Self-localization of Mobile Robots by the Detection and Recognition of Landmarks)

  • 권인소;장기정;김성호;이왕헌
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 2003년도 춘계학술대회 논문집
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    • pp.306-311
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    • 2003
  • This paper presents a novel localization paradigm for mobile robots based on artificial and natural landmarks. A model-based object recognition method detects natural landmarks and conducts the global and topological localization. In addition, a metric localization method using artificial landmarks is fused to complement the deficiency of topology map and guide to action behavior. The recognition algorithm uses a modified local Zernike moments and a probabilistic voting method for the robust detection of objects in cluttered indoor environments. An artificial landmark is designed to have a three-dimensional multi-colored structure and the projection distortion of the structure encodes the distance and viewing direction of the robot. We demonstrate the feasibility of the proposed system through real world experiments using a mobile robot, KASIRI-III.

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Real-Time Arbitrary Face Swapping System For Video Influencers Utilizing Arbitrary Generated Face Image Selection

  • Jihyeon Lee;Seunghoo Lee;Hongju Nam;Suk-Ho Lee
    • International Journal of Internet, Broadcasting and Communication
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    • 제15권2호
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    • pp.31-38
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    • 2023
  • This paper introduces a real-time face swapping system that enables video influencers to swap their faces with arbitrary generated face images of their choice. The system is implemented as a Django-based server that uses a REST request to communicate with the generative model,specifically the pretrained stable diffusion model. Once generated, the generated image is displayed on the front page so that the influencer can decide whether to use the generated face or not, by clicking on the accept button on the front page. If they choose to use it, both their face and the generated face are sent to the landmark extraction module to extract the landmarks, which are then used to swap the faces. To minimize the fluctuation of landmarks over time that can cause instability or jitter in the output, a temporal filtering step is added. Furthermore, to increase the processing speed the system works on a reduced set of the extracted landmarks.

소나 영상을 이용한 확률적 물체 인식 구조 기반 수중로봇의 위치추정 (Underwater Robot Localization by Probability-based Object Recognition Framework Using Sonar Image)

  • 이영준;최진우;최현택
    • 로봇학회논문지
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    • 제9권4호
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    • pp.232-241
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    • 2014
  • This paper proposes an underwater localization algorithm using probabilistic object recognition. It is organized as follows; 1) recognizing artificial objects using imaging sonar, and 2) localizing the recognized objects and the vehicle using EKF(Extended Kalman Filter) based SLAM. For this purpose, we develop artificial landmarks to be recognized even under the unstable sonar images induced by noise. Moreover, a probabilistic recognition framework is proposed. In this way, the distance and bearing of the recognized artificial landmarks are acquired to perform the localization of the underwater vehicle. Using the recognized objects, EKF-based SLAM is carried out and results in a path of the underwater vehicle and the location of landmarks. The proposed localization algorithm is verified by experiments in a basin.

천장 부착 컬러 표식을 이용한 이동로봇의 자기위치추정 (Localization of Mobile Robot Using Color Landmark mounted on Ceiling)

  • 오종규;이찬호
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
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    • pp.91-94
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    • 2001
  • In this paper, we proposed localization method of mobile robot using color landmark mounted on ceiling. This work is composed 2 parts : landmark recognition part which finds the position of multiple landmarks in image and identifies them and absolute position estimation part which estimates the location and orientation of mobile robot in indoor environment. In landmark recognition part, mobile robot detects artificial color landmarks using simple histogram intersection method in rg color space which is insensitive to the change of illumination. Then absolute position estimation part calculates relative position of the mobile robot to the detected landmarks. For the verification of proposed algorithm, ceiling-orientated camera was installed on a mobile robot and performance of localization was examined by designed artificial color landmarks. As the result of test, mobile robot could achieve the reliable landmark detection and accurately estimate the position of mobile robot in indoor environment.

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Vision-Based Indoor Localization Using Artificial Landmarks and Natural Features on the Ceiling with Optical Flow and a Kalman Filter

  • Rusdinar, Angga;Kim, Sungshin
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • 제13권2호
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    • pp.133-139
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    • 2013
  • This paper proposes a vision-based indoor localization method for autonomous vehicles. A single upward-facing digital camera was mounted on an autonomous vehicle and used as a vision sensor to identify artificial landmarks and any natural corner features. An interest point detector was used to find the natural features. Using an optical flow detection algorithm, information related to the direction and vehicle translation was defined. This information was used to track the vehicle movements. Random noise related to uneven light disrupted the calculation of the vehicle translation. Thus, to estimate the vehicle translation, a Kalman filter was used to calculate the vehicle position. These algorithms were tested on a vehicle in a real environment. The image processing method could recognize the landmarks precisely, while the Kalman filter algorithm could estimate the vehicle's position accurately. The experimental results confirmed that the proposed approaches can be implemented in practical situations.

사각지대를 고려한 이동로봇의 인공표식기반 위치추정시스템 (Landmark based Localization System of Mobile Robots Considering Blind Spots)

  • 허동혁;박태형
    • 로봇학회논문지
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    • 제6권2호
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    • pp.156-164
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    • 2011
  • This paper propose a localization system of indoor mobile robots. The localization system includes camera and artificial landmarks for global positioning, and encoders and gyro sensors for local positioning. The Kalman filter is applied to take into account the stochastic errors of all sensors. Also we develop a dead reckoning system to estimate the global position when the robot moves the blind spots where it cannot see artificial landmarks, The learning engine using modular networks is designed to improve the performance of the dead reckoning system. Experimental results are then presented to verify the usefulness of the proposed localization system.

한국 성인 유치악자의 상악전치 위치에 관한 연구 (A Study on the Position of the Maxillary Anterior Teeth in Korean Adults with Natural Dentition)

  • 정창모;박정형
    • 구강회복응용과학지
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    • 제21권2호
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    • pp.105-111
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    • 2005
  • It is essential to establish the suitable position for artificial maxillary anterior teeth, because of not only esthetics, phonetics, mastication, but also optimal position of artificial posterior teeth for the construction of functional and esthetic prostheses. Anatomic landmarks have been used in the arrangement of artificial teeth. Such as incisive papilla and palatal rugae are useful landmarks for positioning occlusal rim and upper anterior artificial teeth because they are relatively stable and to be identified on master cast. Therefore, if average distance between maxillary anterior teeth and landmarks in dentate subjects are measured and applied, appropriate position of occlusal rim can be initially established. In this study, to present a guide to the position of the occlusal rim for upper anterior teeth of edentulous patients, horizontal distance between anatomic landmarks were measured. Maxillary casts were made in 72 Korean dentate subjects. Horizontal distance between central incisor and incisive papilla, between incisive papilla and intercanine line, and between primary palatine rugae and gingival margin of canine were measured on each cast. The results of this study were as follows ; 1. The mean distance from the incisal edge of central incisor to the posterior border of incisive papilla was 12.1 mm (Male 12.2 mm, Female 11.9 mm). 2. The mean distance between posterior border of incisive papilla and intercanine line was 3.5 mm (Male 3.4 mm, Female 3.6 mm / Left 3.6 mm, Right 3.4 mm). 3. The mean distance from the palatal gingival margin of canine to the lateral border of primary palatine rugae was 2.4 mm (Male 2.4 mm, Female 2.4 mm / Left 2.4 mm, Right 2.3 mm). 4. On all measured items, there were no significant differencies in measured values between male and female, and between left and right sides. (P>0.05).