• 융합정보논문지
• /
• 제11권7호
• /
• pp.7-13
• /
• 2021

최근 클라우드 컴퓨팅의 다양한 특징과 장점들로 인하여 전 세계의 다양한 산업군에서 클라우드 서비스 도입 및 전환이 빠르게 확산하는 추세이다. 이러한 멀티클라우드 기반의 서비스가 확산함에 따라 보안 취약성 또한 증대되고 있어 클라우드 컴퓨팅 서비스에서의 데이터 유출 사고도 증가할 것으로 전망되고 있다. 이에 본 연구에서는 데이터 보안이 강화되면서도 클라우드 구축 비용을 절감할 수 있는 AWS Well-Architected 기반의 보안 아키텍처 구성방안을 제안한다. 제안하는 AWS 클라우드 보안 아키텍처는 개인정보 처리 시 요구되는 보안 항목을 충족하는 Standard 보안 참조모델 및 비용 효율화를 고려한 Shared Security 참조모델로 설계하였다. 본 연구에서 제안하는 AWS 보안 아키텍처는 안전하고 신뢰성 높은 AWS 클라우드 시스템을 구성하는 기업과 기관에 도움을 줄 수 있을 것으로 기대한다.

• 제어로봇시스템학회논문지
• /
• 제22권2호
• /
• pp.133-138
• /
• 2016

This paper describes the track initiation and target-tracking filter for ship tracking in a marine environment by using Light Detection And Ranging (LiDAR). LiDAR with three-dimensional scanning capability is more useful for target tracking in the short to medium range compared to RADAR. LiDAR has rotating multi-beams that return point clouds reflected from targets. Through preprocessing the cluster of the point cloud, the center point can be obtained from the cloud. Target tracking is carried out by using the center points of targets. The track of the target is initiated by investigating the normalized distance between the center points and connecting the points. The regular track obtained from the track initiation can be maintained by the target-tracking filter, which is commonly used in radar target tracking. The target-tracking filter is constructed to track a maneuvering target in a cluttered environment. The target-tracking algorithm including track initiation is experimentally evaluated in a sea-trial test with several boats.

• 제어로봇시스템학회논문지
• /
• 제17권5호
• /
• pp.436-443
• /
• 2011

Recognition of structures in urban environments is a fundamental ability for unmanned ground vehicles. In this paper we propose the geometrical featured voxel which has not only 3-D coordinates but also the type of geometrical properties of point cloud. Instead of dealing with a huge amount of point cloud collected by range sensors in urban, the proposed voxel can efficiently represent and save 3-D urban structures without loss of geometrical properties. We also provide an urban structure classification algorithm by using the proposed voxel and machine learning techniques. The proposed method enables to recognize urban environments around unmanned ground vehicles quickly. In order to evaluate an ability of the proposed map representation and the urban structure classification algorithm, our vehicle equipped with the sensor system collected range data and pose data in campus and experimental results have been shown in this paper.

• 한국정보처리학회:학술대회논문집
• /
• 한국정보처리학회 2022년도 추계학술발표대회
• /
• pp.129-131
• /
• 2022

본 논문에서는 다양한 인공지능을 모듈화하고 모듈들을 서로 결합하여 서비스를 제공할 수 있는 지능형 서비스 로봇에서, 인공지능 모듈들을 라이브러리 간의 의존성을 해소하기 위한 방법 중 하나인 가상 머신의 일종인 도커(Docker)를 활용하여 컨테이너화하여 사용할 때, 인공지능 모듈 내부에서 사용하는 신경망 데이터에 해당하는 지능 모델에 대해 버전 관리를 수행하면서 클라우드 등 외부 서버를 이용하여 증강시킨 지능 모델을 공유하는 기술 개발에 대해 설명한다.

• 로봇학회논문지
• /
• 제9권1호
• /
• pp.1-10
• /
• 2014

In recent years, the research of 3D mapping technique in urban environments obtained by mobile robots equipped with multiple sensors for recognizing the robot's surroundings is being studied actively. However, the map generated by simple integration of multiple sensors data only gives spatial information to robots. To get a semantic knowledge to help an autonomous mobile robot from the map, the robot has to convert low-level map representations to higher-level ones containing semantic knowledge of a scene. Given a 3D point cloud of an urban scene, this research proposes a method to recognize the objects effectively using 3D graph model for autonomous mobile robots. The proposed method is decomposed into three steps: sequential range data acquisition, normal vector estimation and incremental graph-based segmentation. This method guarantees the both real-time performance and accuracy of recognizing the objects in real urban environments. Also, it can provide plentiful data for classifying the objects. To evaluate a performance of proposed method, computation time and recognition rate of objects are analyzed. Experimental results show that the proposed method has efficiently in understanding the semantic knowledge of an urban environment.

• ETRI Journal
• /
• 제43권4호
• /
• pp.603-616
• /
• 2021

Over the last few years, autonomous vehicles have progressed very rapidly. The odometry technique that estimates displacement from consecutive sensor inputs is an essential technique for autonomous driving. In this article, we propose a fast, robust, and accurate odometry technique. The proposed technique is light detection and ranging (LiDAR)-based direct odometry, which uses a spherical range image (SRI) that projects a three-dimensional point cloud onto a two-dimensional spherical image plane. Direct odometry is developed in a vision-based method, and a fast execution speed can be expected. However, applying LiDAR data is difficult because of the sparsity. To solve this problem, we propose an SRI generation method and mathematical analysis, two key point sampling methods using SRI to increase precision and robustness, and a fast optimization method. The proposed technique was tested with the KITTI dataset and real environments. Evaluation results yielded a translation error of 0.69%, a rotation error of 0.0031°/m in the KITTI training dataset, and an execution time of 17 ms. The results demonstrated high precision comparable with state-of-the-art and remarkably higher speed than conventional techniques.

• ETRI Journal
• /
• 제45권5호
• /
• pp.836-846
• /
• 2023

Mobile robots are used in modern life; however, object recognition is still insufficient to realize robot navigation in crowded environments. Mobile robots must rapidly and accurately recognize the movements and shapes of pedestrians to navigate safely in pedestrian-rich spaces. This study proposes real-time, accurate, three-dimensional (3D) multi-pedestrian detection and tracking using a 3D light detection and ranging (LiDAR) point cloud in crowded environments. The pedestrian detection quickly segments a sparse 3D point cloud into individual pedestrians using a lightweight convolutional autoencoder and connected-component algorithm. The multi-pedestrian tracking identifies the same pedestrians considering motion and appearance cues in continuing frames. In addition, it estimates pedestrians' dynamic movements with various patterns by adaptively mixing heterogeneous motion models. We evaluate the computational speed and accuracy of each module using the KITTI dataset. We demonstrate that our integrated system, which rapidly and accurately recognizes pedestrian movement and appearance using a sparse 3D LiDAR, is applicable for robot navigation in crowded spaces.

• Advances in robotics research
• /
• 제1권2호
• /
• pp.127-140
• /
• 2014

This work presents an IR-based system for parking assistance and obstacle detection in the automotive field that employs the Microsoft Kinect camera for fast 3D point cloud reconstruction. In contrast to previous research that attempts to explicitly identify obstacles, the proposed system aims to detect "reachable regions" of the environment, i.e., those regions where the vehicle can drive to from its current position. A user-friendly 2D traversability grid of cells is generated and used as a visual aid for parking assistance. Given a raw 3D point cloud, first each point is mapped into individual cells, then, the elevation information is used within a graph-based algorithm to label a given cell as traversable or non-traversable. Following this rationale, positive and negative obstacles, as well as unknown regions can be implicitly detected. Additionally, no flat-world assumption is required. Experimental results, obtained from the system in typical parking scenarios, are presented showing its effectiveness for scene interpretation and detection of several types of obstacle.

• 한국IT서비스학회지
• /
• 제18권2호
• /
• pp.123-141
• /
• 2019

The goal of this study is to review the major research trend on the convergence studies of AI and healthcare technologies. For the study, 15,260 English articles on AI and healthcare related topics were collected from Scopus for 55 years from 1963, and text mining techniques were conducted. As a result, seven key research topics were defined : "AI for Clinical Decision Support System (CDSS)", "AI for Medical Image", "Internet of Healthcare Things (IoHT)", "Big Data Analytics in Healthcare", "Medical Robotics", "Blockchain in Healthcare", and "Evidence Based Medicine (EBM)". The result of this study can be utilized to set up and develop the appropriate healthcare R&D strategies for the researchers and government. In this study, text mining techniques such as Text Analysis, Frequency Analysis, Topic Modeling on LDA (Latent Dirichlet Allocation), Word Cloud, and Ego Network Analysis were conducted.

• 제어로봇시스템학회논문지
• /
• 제19권5호
• /
• pp.457-461
• /
• 2013

This paper proposes an image feature-based real-time RGB-D (Red-Green-Blue Depth) 3D SLAM (Simultaneous Localization and Mapping) system. RGB-D data from Kinect style sensors contain a 2D image and per-pixel depth information. 6-DOF (Degree-of-Freedom) visual odometry is obtained through the 3D-RANSAC (RANdom SAmple Consensus) algorithm with 2D image features and depth data. For speed up extraction of features, parallel computation is performed with GPU acceleration. After a feature manager detects a loop closure, a graph-based SLAM algorithm optimizes trajectory of the sensor and builds a 3D point cloud based map.