서지주요정보
레이저 센서를 이용한 로봇 주행 환경 삼차원 지도 구성 = 3D map building of navigation environments for the mobile robot using laser vision sensor
서명 / 저자 레이저 센서를 이용한 로봇 주행 환경 삼차원 지도 구성 = 3D map building of navigation environments for the mobile robot using laser vision sensor / 이운규.
저자명 이운규 ; Lee, Oon-Kyu
발행사항 [대전 : 한국과학기술원, 2002].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8012796

소장위치/청구기호

학술문화관(문화관) 보존서고

MME 02053

SMS전송

도서상태

이용가능

대출가능

반납예정일

초록정보

For autonomous navigation of the mobile robots in real 3D world, the robots' capability to recognize 3D environment is essential. In this thesis, an on-line 3D map building method for autonomous mobile robots is proposed. To get range data on the environment, a sensor system using structured light and a COD camera is used, which is based on optical triangulation method. The structured laser is projected as a horizontal stripe on the scene. The sensor system has pan-tilt and elevation mechanism on the mobile robot. Scanning the system, laser stripe image for the environments is acquired and planes composing environments are updated through some image processing steps. From the laser stripe on the acquired image, center points of each column are found and line segments are made from blabbing the center points. Then, the planes of the environments are updated. These steps are performed on-line in scanning phase. Through the proposed method, the 3D map about the environments is composed effectively. In many case, the mobile robot is not able to get whole 3D map of environments with single view of visual sensing systems, because occlusions can be occurred. The change of the position or orientation of the sensor system is necessary for solving occlusion problems. In this thesis, the sensor planning method for solving occlusion problems is proposed. The method follow these steps: 1) making candidates for next position and orientation of the sensor system using occlusions, 2) checking the candidates whether the sensor system can be placed, 3) evaluating the candidates, 4) selecting the best one and the point is the next point of the sensor system. For evaluation, robot moving distance and area of solved occlusions were considered. In this thesis, 2D simulations and experiments of the sensor planning method are represented. Whole 2D environment is acquired without occlusion by the sensor planning method. Future work is necessary to expand this sensor planning to 3D.

서지기타정보

서지기타정보
청구기호 {MME 02053
형태사항 vii, 125 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Oon-Kyu Lee
지도교수의 한글표기 : 조형석
지도교수의 영문표기 : Hyung-Suck Cho
학위논문 학위논문(석사) - 한국과학기술원 : 기계공학전공,
서지주기 참고문헌 : p. 40-42
주제 이동로봇
삼차원지도
센서 위치 계획
레이저 스트립센서
뷰플래닝
mobile robot
3D map
sensor planning
laser stripe sensor
view planning
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