• 한국항해항만학회지
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• 제27권3호
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• pp.273-282
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• 2003

This paper proposes a sensor-fusion technique where rho data sets for the previous moments are properly transformed and fused into the current data sets to enable accurate measurement, such as, distance to an obstacle and location of the service robot itself. In the conventional fusion schemes, the measurement is dependent only on the current data sets. As the results, more of sensors are required to measure a certain physical promoter or to improve the accuracy of the measurement. However, in this approach, intend of adding more sensors to the system, the temporal sequence of the data sets are stored and utilized for the measurement improvement. Theoretical basis is illustrated by examples md the effectiveness is proved through the simulation. Finally, the new space and time sensor fusion (STSF) scheme is applied to the control of a mobile robot in the indoor environment and the performance was demonstrated by the real experiments.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.471-475
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• 2003

This paper proposes a sensor-fusion technique where the data sets for the previous moments are properly transformed and fused into the current data sets to enable accurate measurement, such as, distance to an obstacle and location of the service robot itself. In the conventional fusion schemes, the measurement is dependent on the current data sets. As the results, more of sensors are required to measure a certain physical parameter or to improve the accuracy of the measurement. However, in this approach, instead of adding more sensors to the system, the temporal sequence of the data sets are stored and utilized for the measurement improvement. Theoretical basis is illustrated by examples and the effectiveness is proved through the simulations. Finally, the new space and time sensor fusion (STSF) scheme is applied to the control of a mobile robot in an unstructured environment as well as structured environment.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제4권1호
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• pp.23-28
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• 2004

This paper proposes a sensor-fusion technique where the data sets for the previous moments are properly transformed and fused into the current data sets to enable accurate measurement, such as, distance to an obstacle and location of the service robot itself. In the conventional fusion schemes, the measurement is dependent on the current data sets. As the results, more of sensors are required to measure a certain physical parameter or to improve the accuracy of the measurement. However, in this approach, instead of adding more sensors to the system, the temporal sequence of the data sets are stored and utilized for the measurement improvement. Theoretical basis is illustrated by examples and the effectiveness is proved through the simulations. Finally, the new space and time sensor fusion(STSF) scheme is applied to the control of a mobile robot in an unstructured environment as well as structured environment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.104.2-104
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• 2002

This paper proposes a sensor-fusion technique where the data sets for the previous moments are properly transformed and fused into the current data sets to enable accurate measurement, such as, distance to an obstacle and location of the service robot itself. In the conventional fusion schemes, the measurement is dependent on the current data sets. As the results, more of sensors are required to measure a certain physical parameter or to improve the accuracy of the measurement. However, in this approach, instead of adding more sensors to the system , the temporal sequence of the data sets are stored and utilized for the measurement improvement. Theoretical basis is il lustrated by examples and...

• 대한전기학회논문지:시스템및제어부문D
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• 제53권10호
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• pp.703-713
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• 2004

This paper presents the new obstacle avoidance method that is composed of vision and sonar sensors, also a navigation algorithm is proposed. Sonar sensors provide poor information because the angular resolution of each sonar sensor is not exact. So they are not suitable to detect relative direction of obstacles. In addition, it is not easy to detect the obstacle by vision sensors because of an image disturbance. In This paper, the new obstacle direction measurement method that is composed of sonar sensors for exact distance information and vision sensors for abundance information. The modified splitting/merging algorithm is proposed, and it is robuster for an image disturbance than the edge detecting algorithm, and it is efficient for grouping of the obstacle. In order to verify our proposed algorithm, we compare the proposed algorithm with the edge detecting algorithm via experiments. The direction of obstacle and the relative distance are used for the inputs of the fuzzy controller. We design the angular velocity controllers for obstacle avoidance and for navigation to center in corridor, respectively. In order to verify stability and effectiveness of our proposed method, it is apply to a vision and sonar based mobile robot navigation system.

• 한국항공우주학회지
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• 제41권5호
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• pp.422-428
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• 2013

최근에 소형무인기(small UAV)에 대한 관심이 증대되고 있는데, 이는 소형무인기가 비용대비 효율적이고 사람의 접근이 어려운 재난 환경 등에 적합하기 때문이다. 이러한 소형무인기에서 거리측정을 통한 매핑(mapping)은 필수적인 기술이다. 기존의 무인시스템 연구에서 거리 측정 센서는 주로 레이저 센서와 스테레오 비전 센서를 많이 사용하였다. 레이저 센서는 정확도와 신뢰성이 우수하지만 대부분 고가의 장비이고 스테레오 비전 센서는 구현이 용이하지만 무게 측면에서 소형무인기에 탑재하여 사용하기에는 적합하지 않다. 본 논문에서는 레이저 포인터와 단일 카메라를 사용하여 저가의 거리측정기를 구성하는 방안을 소개한다. 제안한 시스템을 이용하여 거리를 측정하고 이로부터 맵을 구성하는 실험을 수행하였고 실제 데이터와 비교 분석하여 시스템의 신뢰성을 검증하였다.

• 센서학회지
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• 제22권6호
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• pp.387-392
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• 2013

Camera rigs for shooting 3D video are classified as manual, motorized, or fully automatic. Even in an automatic camera rig, the process of Stereoscopic 3D (S3D) video capture is very complex and time-consuming. One of the key time-consuming operations is capturing the distance parameters, which are near distance, far distance, and convergence distance. Traditionally these distances are measured by tape measure or triangular indirect measurement methods. These two methods consume a long time for every scene in shot. In our study, a compact laser distance sensing system with long range distance sensitivity is developed. The system is small enough to be installed on top of a camera and the measuring accuracy is within 2% even at a range of 50 m. The shooting time of an automatic camera rig equipped with the laser distance sensing system can be reduced significantly to less than a minute.

• 한국전기전자재료학회논문지
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• 제30권4호
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• pp.253-257
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• 2017

Nowadays, it is increasingly important to detect whether cables are live for the operator's safety if there is a sudden power failure. It is especially hard to detect the electrical field of an underground line because of shielding. This paper on detection of live-line states in cables studied the detection characteristics of the change in the magnetic field and axis as the frequency, voltage, and distance at the same load are changed using 3 axes. A search coil type was used as a magnetic field sensor with non-contact. We found that magnetic fields decrease proportionally to the square of the distance and the decrease of rated voltage with load effected to magnetic field. The magnetic field was detected by 3-axis sensors given correct proximity, but appeared as noise components beyond a distance of 2 cm.

• 항공우주시스템공학회지
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• 제15권3호
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• pp.99-104
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• 2021

멀터콥터형 드론에 적용할 목적으로 바람 센서의 특성을 분석하고 실험을 통하여 비교하였다. 회전식 풍속계의 경우 동역학 효과가 측정 오차를 만들며, 초음파식 센서는 제작 오차와 신호처리 오차가 주요한 것으로 나타났다. 초음파식 센서는 트랜스듀서의 거리가 멀수록 오차가 줄어든다. 실험을 통하여 이러한 특성들을 확인하였으며, 멀티콥터에는 전압 출력 혹은 10 hz 이상의 데이터 출력이 가능한 초음파식 센서가 적합하다고 판단한다.

• 한국IT서비스학회지
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• 제22권2호
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• pp.57-70
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• 2023

In order to establish an autonomous driving environment, it is necessary to study traffic safety and demand prediction by analyzing information generated from the transportation infrastructure beyond relying on sensors by the vehicle itself. In this paper, we propose a real-time traffic information generation method using sensor convergence technology of transportation infrastructure. The proposed method uses sensors such as cameras and radars installed in the transportation infrastructure to generate information such as crosswalk pedestrian presence or absence, crosswalk pause judgment, distance to stop line, queue, head distance, and car distance according to each characteristic. create information An experiment was conducted by comparing the proposed method with the drone measurement result by establishing a demonstration environment. As a result of the experiment, it was confirmed that it was possible to recognize pedestrians at crosswalks and the judgment of a pause in front of a crosswalk, and most data such as distance to the stop line and queues showed more than 95% accuracy, so it was judged to be usable.