• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2006년도 학술대회 1부
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• pp.355-361
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• 2006

In large scale environments like airport, museum, large warehouse and department store, autonomous mobile robots will play an important role in security and surveillance tasks. Robotic security guards will give the surveyed information of large scale environments and communicate with human operator with that kind of data such as if there is an object or not and a window is open. Both for visualization of information and as human machine interface for remote control, a 3D model can give much more useful information than the typical 2D maps used in many robotic applications today. It is easier to understandable and makes user feel like being in a location of robot so that user could interact with robot more naturally in a remote circumstance and see structures such as windows and doors that cannot be seen in a 2D model. In this paper we present our simple and easy to use method to obtain a 3D textured model. For expression of reality, we need to integrate the 3D models and real scenes. Most of other cases of 3D modeling method consist of two data acquisition devices. One for getting a 3D model and another for obtaining realistic textures. In this case, the former device would be 2D laser range-finder and the latter device would be common camera. Our algorithm consists of building a measurement-based 2D metric map which is acquired by laser range-finder, texture acquisition/stitching and texture-mapping to corresponding 3D model. The algorithm is implemented with laser sensor for obtaining 2D/3D metric map and two cameras for gathering texture. Our geometric 3D model consists of planes that model the floor and walls. The geometry of the planes is extracted from the 2D metric map data. Textures for the floor and walls are generated from the images captured by two 1394 cameras which have wide Field of View angle. Image stitching and image cutting process is used to generate textured images for corresponding with a 3D model. The algorithm is applied to 2 cases which are corridor and space that has the four wall like room of building. The generated 3D map model of indoor environment is shown with VRML format and can be viewed in a web browser with a VRML plug-in. The proposed algorithm can be applied to 3D model-based remote surveillance system through WWW.

• 한국화재소방학회논문지
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• 제31권5호
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• pp.117-122
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• 2017

밀폐된 공간에서 통신인프라가 파괴될 경우, 긴급 유 무선 통신환경을 구축하여 화재진압 및 소방관 위치확인을 통한 보다 안전한 재난대응환경 확보가 필요하다. 본 연구에서는 Ultra-Wide Band (UWB) 무선통신망을 이용하여 밀폐된 실내 통신환경을 구축하기 위해 6가지 실내환경에 대해 단일 UWB 통신모듈에 대한 통신측위 성능평가를 최대 20 m까지 측정하였다. UWB 통신주파수 각 대역별 6개 채널에 대한 실내환경 통신거리 측정 결과, 개방공간(평균 15.5 m, 최대 20 m), 복도(평균 17.33 m, 최대 20 m), 실내집기류 존치 실내(평균 15.3 m, 최대 20 m), 수직계단(평균 4.33 m, 최대 6 m), 방화문 폐쇄 수평공간(평균 6.5 m, 최대 17 m)으로 나타났다. 이중 7번 채널인 6489.6~1081.6 MHz 주파수 대역에서 통신성능과 거리성능이 가장 우수한 것으로 나타났다. 이에 UWB 통신모듈을 20m 간격으로 설치하고 멀티채널을 이용할 경우 밀폐공간에서 통신환경 구축이 가능한 것으로 판단된다.