HOT Խù äù
/ ġ
Ÿ AOC ݿ fiber_new
Ʈ Q&A ü Ƽָ
ͳ Լ

Warning: array_keys() [function.array-keys]: The first argument should be an array in /home/koreapas/public_html/m/fast_menu.php on line 805
б (kupid)
û ȸ
л Ű/
͸
2017.09.13 20:31:41 2,091
[ī̾]õ ī޶ ̿ dz ȯ濡 ۼ ġ
÷ ̹ 3

йڻ

α / īƮδн

 

 õ ī޶ ̿ dz ȯ濡 ۼ ġ

(Robust mapping and localization using an upward-looking camera and a laser scanner in indoor large dynamic environments)

 

1. INTRODUCTION

1.1 Introduction

1.2 Related Research

1.3 Outline

2. IMPROVED ICP METHOD FOR A MOBILE ROBOT USING A 2D LASER SCANNER

2.1 Basic Concept of ICP Method

2.2 Search for Corresponding points

2.3 Improved Point-to-Plane ICP Method

2.4 Sampling Positions

2.5 Experimental Results

2.6 Conclusions

3. BUILDING A SYNCHRONIZED MAP

3.1 Building Grid Map

3.2 Building Ceiling Feature Map

3.3 Experimental Results

3.4 Conclusions

4. LOCALIZATION METHOD USING THE SYNCHRONIZED MAP

4.1 Motion Model

4.2 Sensor Model

4.3 Experimental Results

4.4 Conclusions

5. GLOBAL LOCALIZATION

5.1 Method of Processing Ceiling Feature Map for Feature Matching

5.2 Global Localization using Ceiling Feature Map

5.3 Determination of Robot Pose and Range of Sample Distribution

5.4 Experimental Results

5.5 Conclusions

6. CONCLUDING REMARKS

 

 

< Ұ>

̵κ ġκ ̵ϱ ؼ ۼ, ġ, , ΰȹ پ ʿ Ѵ. ۼ ȯ濡 (ֹ, , Ư¡ ) κ ġ, ΰȹ ۾ ϱ · ȯŰ ̴. ġ ۼ ȯ κ ġϴ ľϴ ̴. ׷ پ ȯ濡 Ͽ ۼ ġ ϱ Ƿ, ȯ濡 ٸ ϴ ٶϴ.

Ư ȯ̳ â ȯ濡 ̿ ۼ ġ ̵κ Ѵ. ̷ ȯ dz ȯ濡 , ȯ ̰ų ټ ֹ ϴ ȯ̴. ϱ ټ Ư¡ ʿ , κ Ư¡ Ͽ ġ ð Ѵ. , ȭ Ư¡ ̿ ġ ذϱ ƴ. ̷ ذϱ Ͽ ġ ߰ ΰǥ ġϿ ġ ϴ , ȯ ̿ ټ ΰǥ ʿϸ, ƴ. , ΰǥ ϱ ؼ Ư ̿ ġ Ǿ ϹǷ κ̳ ȯ濡 Ͽ ִ ϱ ƴ.

̷ ذϱ Ͽ õ ī޶ ijʸ ̿Ͽ ȭ ۼϰ κ ġ Ͽ. ȭ õ Ư¡ ۼ μ, ϴ ̴. ȭ ۼ κ ġ Ÿ ϰ, κ ġ õ Ư¡ ۼѴ. κ ġ ǾǷ Ư¡ ġ κ Ư¡ 踸 Ͽ ִ. ׷Ƿ Ư¡ ִ ȯ濡 ҽ ȯ濡 ۼ ϴ.

° ȭ ̿ ġ ȯ ̿ϹǷ ȯ( ȭ, , ֹ ) Ͽ ϰ ۿ ִ. õ Ư¡ ̿ ġ ̵ ü ظ ּȭ ־ ϴ. ̿ ġ ȯ Ȯϰ Ǻϰ, ȯ濡 ȹ ִ. ش ġ پ ȯ濡 ϴ.

̵κ о߿ ū ϳ ʱ κ ġ ã ġν ̴. ۼ Ư¡ õ 󿡼 Ư¡ Ͽ κ ġ ã Ѵ. Ư¡ ġ ̿ϴ ޸, Ư¡ Ư¡ Ÿ ̿Ͽ κ ġ ʿ ĺ ũ ҽ״. , Ư¡ Ÿ ̿Ͽ Ư¡ ̸ ǥ ȰϿ ǿ ϴ.

 

 

< ͺ>

1. īƮδн Ͻð Ⱑ ñմϴ.

ȭ , κ ̽ϱ? κ ϴ Ӹ ƴ϶ κ ϴ ȭ. ', κ' ̷ ȸ κ 츮  ȭǾ Բ ư ִ Դϴ. ̷ ̷ ȸ ϴ ִ κ ϴ. ׸ κ ϱ ؼ ƴ϶ , , ǻ پ о߸ ÿ ľϴ ʿ߽ϴ. ׷ ټ յǾ پ о߸ ִ īƮδн Ͽϴ.

 

2. Ͻð ڵ鿡 ϰ ߴ 뿡 Ź帳ϴ.

κ ǻȰ ִ Ͽ ̾߱ϰ ;ϴ. ׷ κ ̿ õ Ͽ Ͽϴ. ũ dz ǿ ϴ. dz ߵǾ ȭ κδ ûҷκ, AGV(Automated Guided Vehicle), ȳκ ְ, ǿ ǥ ʷδ ڵ ֽϴ. dz Ư Ͽϴ. dz κ Բ Ȱϸ鼭 ׵ ִ Ͽ մϴ. ̿ dz ȭ 鼭 ¿ Ѵٴ Ư Բ ؾ ߱⿡ ̸ ־ϴ. ΰ κ Բ ȯ濡 κ ϱ ǻȰ ñϽôٸ ش ϴ.

3. ־ٸ  ͵ΰ?

ο ϰ ϴ Դϴ. ϴ , ̷ Ȯϰ ´, ߸ ̷ε 쿬 ƴ Ӿ 䰡 ʿ߽ϴ. Ӹ ƴ϶ ߰ߵǰų ο ̵ ȸǷ ĥ ϴ. ̷ غϱ ٸ ̵ , , , ãƺ Ͽ, ̷ ε Ǿϴ.

 

4. ⸦ յ Ĺ鿡 Ѹ Ź帳ϴ.

ռ ο ̶ Ͽ, ̸ ؼ پ ϴ ٰ մϴ. Ư 뿡 ϸ鼭 ġ̴ ش ̷и ϰ Ǿ ϰ ֽϴ. ܿ ι, ȸ, , پ η д ο ̵ â̳ ۼ ϴ. ⿡ ռ ޽ ϴ մϴ. Ҽ ư ֽϴ. δ㰨 , ڽ ð ۾ ٽ Դϴ.

 

ͺ : qkswodud1044@korea.ac.kr



0
޴ ۸ ۾
HOT Խù äù
apps
: 38.75%
Campus Friends 2007-2024