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公开(公告)号：KR101490055B1
公开(公告)日：2015-02-06
申请号：KR1020130130580
申请日：2013-10-30
Applicant: 한국과학기술원
Abstract: 이동 로봇의 위치와 지도를 추정하는 방법은 상기 이동 로봇의 모노 카메라로부터 획득된 현재 이미지와 이전 데이터를 이용하여 제1 노드에 연관된 제1 구속조건을 생성하는 단계와, 상기 이동 로봇의 RGB-D 카메라(red-green-blue depth camera)로부터 획득된 RGB-D 데이터와 이전 3D 맵을 매칭하여 제2 노드에 연관된 제2 구속조건을 생성하는 단계와, 상기 이동 로봇의 2D LRF로부터 획득된 2D 거리 데이터와 이전 2D 맵을 매칭하여 제3 노드에 연관된 제3 구속조건을 생성하는 단계와, 상기 각 노드 사이의 주행 거리를 측정하여 제4 구속조건을 생성하는 단계와, 상기 제1 구속조건, 상기 제2 구속조건, 상기 제3 구속조건, 및 상기 제4 구속조건을 이용하여 상기 각 노드에 대한 그래프-구조를 생성하는 단계를 포함할 수 있다.
Abstract translation: 本发明涉及一种用于估计移动机器人和地图的位置的方法，其包括：使用由单声道相机获得的当前图像和先前数据来生成与第一节点相关的第一约束条件的步骤; 通过将由移动机器人的RGB-D相机获得的RGB-D（红 - 绿 - 蓝深度）数据与先前的3D地图相匹配来产生与第二节点相关的第二约束条件的步骤; 通过将由移动机器人的2D LRF获得的3D距离数据与先前的2D地图进行匹配来生成与第三节点相关的第三约束条件的步骤; 通过测量节点之间的驱动距离来产生第四约束条件的步骤; 以及使用第一，第二，第三和第四约束条件在每个节点上生成图形结构的步骤。
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Patent Agency Ranking
公开(公告)号：KR101538866B1
公开(公告)日：2015-07-22
申请号：KR1020130162660
申请日：2013-12-24
CPC classification number: F17C3/00 , F17C3/022 , F17C3/025 , F17C2201/0157 , F17C2201/0166 , F17C2201/0171 , F17C2201/035 , F17C2201/052 , F17C2203/012 , F17C2203/013 , F17C2203/0617 , F17C2203/0629 , F17C2203/0639 , F17C2203/0646 , F17C2203/0648 , F17C2205/0379 , F17C2209/221 , F17C2221/033 , F17C2223/0123 , F17C2223/0161 , F17C2223/033 , F17C2223/035 , F17C2260/011 , F17C2260/013 , F17C2260/016 , F17C2260/018 , F17C2270/01 , F17C2270/0105 , F17C2270/011 , F17C2270/0113 , F17C2270/0121 , F17C2270/0123 , F17C2270/0136
Abstract: 본발명의실시예에따른유체저장탱크는, 내부에유체가저장되는공간부가형성되도록길이방향, 폭방향, 및높이방향의전면을형성하는제1 외벽부, 상기공간부를다수의서브공간부로분할하도록상기제1 외벽부의길이방향을따라배열된다수의분할판, 및상기다수의분할판중 최외곽분할판과상기제1 외벽부사이에위치하는엔드부를포함하고, 각각의상기분할판에는상기분할판의상부에위치한기체통과홀, 및상기분할판의하부에위치한액체통과홀을포함하는유체통과홀이형성되어상기서브공간부간의유체가서로연통되는것을특징으로하며, 차지하는공간을감소시키면서도강도가향상된유체저장탱크를제공한다.
Abstract translation: 根据本发明实施例的液体储罐包括：第一外壁部分，其在长度方向，宽度方向和高度方向上形成前表面，以形成其中储存流体的空间部分; 沿着所述第一外壁部的长度方向配置的多个隔板，将所述空间部分分割为所述多个副空间部; 以及位于所述多个分隔板的最外隔板与所述第一外壁部之间的端部，其中，所述隔板中的每一个形成有流体通孔，所述流体通孔包括：气体通孔，其位于所述隔板的顶部 ; 以及液体通孔，其位于分隔板的底部，使得分步部之间的流体彼此连通。
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公开(公告)号：KR1020140056073A
公开(公告)日：2014-05-09
申请号：KR1020130129853
申请日：2013-10-30
Applicant: 한국과학기술원
IPC: H04N13/00
CPC classification number: H04N13/122 , H04N13/144
Abstract: A method for creating a dynamic floating window for stereoscopic content is disclosed. The present invention relates to a method for creating a dynamic floating window for generating a three-dimensional (3D) stereoscopic image. The dynamic floating window creating method comprises the steps of: receiving left and right image sequences as an input; extracting feature points having a negative disparity value corresponding commonly in the left and right image sequences; clustering and ordering the extracted feature points; calculating a transformation amount for the clustering and applying temporal consistency; receiving a user command and applying a user constraint; calculating a final transformation amount to which the user constraint is applied; and creating and outputting left and right dynamic floating windows based on the final transformation amount.
Abstract translation: 公开了一种用于创建用于立体内容的动态浮动窗口的方法。 本发明涉及一种用于创建用于生成三维（3D）立体图像的动态浮动窗口的方法。 动态浮动窗口创建方法包括以下步骤：接收左和右图像序列作为输入; 提取具有在左和右图像序列中共同对应的负差异值的特征点; 聚类和排序提取的特征点; 计算聚类的变换量并应用时间一致性; 接收用户命令并应用用户约束; 计算应用用户约束的最终变换量; 并根据最终变换量创建并输出左右动态浮动窗口。
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公开(公告)号：KR1020140047310A
公开(公告)日：2014-04-22
申请号：KR1020120113398
申请日：2012-10-12
Applicant: 한국과학기술원
Abstract: Disclosed is an apparatus for collecting and cutting jellyfishes. The apparatus for collecting and cutting jellyfishes according to an embodiment of the present invention is provided below a ship or an unmanned water robot to collect and cut jellyfishes. The apparatus comprises: first and second frames for forming a jellyfish inlet and a jellyfish outlet through which the jellyfishes enters and the entering jellyfishes are discharged, when the ship or the unmanned water robot is operated; a plurality of connecting frames for connecting the first frame and the second frame; a plurality of wires which connect the first frame and the second frame to each other such that the first frame and the second frame are spaced apart from each other, which are formed of a material having a surface resistance equal to or lower than a predetermined value, and which guide the entering of the jellyfishes so that the jellyfishes entering the first frame is rapidly moved toward the second frame; and a cutting unit provided at the second frame and cutting the jellyfishes entering the second frame through the first frame. According to the present invention, the jellyfishes can be moved toward the cutting unit as if the jellyfishes slide by forming the wires of a material having a surface resistance equal to or lower than a predetermined value, and the jellyfishes are movable without being entangled with the wires, so that the efficiency of removing the jellyfishes can be increased.
Abstract translation: 公开了一种收集和切割水果的装置。 根据本发明的实施例的用于收集和切割水果的设备被提供在船或无人水机器人下方以收集和切割水elly鱼。 该装置包括：当船舶或无人机器人被操作时，用于形成水母入口的第一和第二框架以及水母进入的水母出口和进入的水母被排出; 多个用于连接第一框架和第二框架的连接框架; 多个电线，其将第一框架和第二框架彼此连接，使得第一框架和第二框架彼此间隔开，所述第一框架和第二框架由表面电阻等于或低于预定值的材料形成 并且其引导进入水果，使得进入第一框架的水果迅速地朝向第二框架移动; 以及设置在第二框架处的切割单元，并且通过第一框架切割进入第二框架的水果。 根据本发明，通过形成具有等于或低于预定值的表面电阻的材料的电线，水鳗可以朝向切割单元移动，就像水ishes鱼滑动，并且水ishes鱼可移动而不与 电线，从而可以提高除去果冻的效率。
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