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公开(公告)号：KR100785784B1
公开(公告)日：2007-12-13
申请号：KR1020060070838
申请日：2006-07-27
Applicant: 한국전자통신연구원
IPC: B25J9/10
CPC classification number: G01S5/163 , G01C21/00 , G01C22/02 , G05D1/0234 , G05D1/0272
Abstract: A system and a method for calculating the location of a robot real time by interlocking marks with odometry are provided to identify marks 24 hours regardless of external circumstance such as lights by utilizing optical source marks and an optical filter. A system for calculating the location of a robot real time by interlocking marks with odometry comprises a mark detecting unit, a mark identifying unit, a first location calculating unit, and a second location calculating unit, and a control unit. The mark detecting unit detects image coordinate values of marks around a robot from the image of a specific area where the marks are set. The mark identifying unit converts three dimensional location coordinate values of the marks into two dimensional image coordinate value and compares a predicted image valve of the mark with the image coordinate value detected by the mark detecting unit to calculate the location coordinate value of the mark. The first location calculation unit calculates the present location coordinate value of the robot based on mark location algorism using the image coordinate value and the location coordinate value. The second calculating unit calculates the present location coordinate value of the robot through odometry location calculating algorism using odometry information of the robot. The control unit updates the location coordinate value calculated by the first location calculating unit if the location coordinate value calculated by the first location calculating unit exists and updates the location coordinate value calculated by the second location calculating unit as a present location coordinate value of the robot, if the location coordinate value does not exist.
Abstract translation: 提供了一种用于通过联合标记与测距法计算机器人实时位置的系统和方法，以通过利用光源标记和光学滤波器来识别标记24小时而不管诸如光的外部环境。 用于通过联合标记与测距计算机器人实时位置的系统包括标记检测单元，标记识别单元，第一位置计算单元和第二位置计算单元以及控制单元。 标记检测单元从设置有标记的特定区域的图像检测机器人周围的标记的图像坐标值。 标记识别单元将标记的三维位置坐标值转换为二维图像坐标值，并将标记的预测图像阀与由标记检测单元检测的图像坐标值进行比较，以计算标记的位置坐标值。 第一位置计算单元使用图像坐标值和位置坐标值，基于标记位置算法来计算机器人的当前位置坐标值。 第二计算单元使用机器人的测距信息通过测距位置计算算法来计算机器人的当前位置坐标值。 如果由第一位置计算单元计算的位置坐标值存在，则控制单元更新由第一位置计算单元计算出的位置坐标值，并将由第二位置计算单元计算的位置坐标值更新为机器人的当前位置坐标值 ，如果位置坐标值不存在。
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公开(公告)号：KR100748245B1
公开(公告)日：2007-08-10
申请号：KR1020060011198
申请日：2006-02-06
Applicant: 한국전자통신연구원
CPC classification number: G05D1/0274 , G05D1/0234 , G05D1/024 , G05D1/0255 , G05D2201/0203
Abstract: 본 발명은 인공표식과 지역좌표계를 이용한 이동로봇의 환경지도 작성 방법 및 이동 방법에 관한 것으로서, 로봇의 이동 경로를 포함하는 이동공간과 로봇의 작업이 이루어지는 작업공간을 포함하는 환경공간에서, 인공표식의 위치에 대응하는 노드 정보와 상기 노드를 잇는 에지 정보를 로봇에 입력하여, 상기 노드와 에지의 연결 그래프를 통해 전체 지도를 추상화한 위상학지도 상에서 현재 로봇이 속한 장소에서 인공표식 인식을 통해 생성하는 지역좌표계를 이용하여 상기 에지를 따라 이동하는 것을 특징으로 한다. 이에 따라, 인공표식으로부터 추출된 지역좌표계를 사용함으로써 지도 작성의 시간과 효율을 높일 수 있으며, 넓은 공간을 “이동공간”과 “작업공간”으로 분리하여 지도를 작성하므로 사용되는 인공표식의 수를 줄일 수 있고, 넓은 공간에서도 실시간 경로 생성이 가능하고, 저가의 센서를 이용하면서도 자연스러운 로봇 이동이 가능하다.
이동로봇(Mobile Robot), 지역좌표(Local coordinate), 상대좌표(Relative coordinate), 인공표식(Artificial landmark), 맵핑(Mapping), 지도형성, 이동(Motion, Navigation)-
公开(公告)号：KR1020070061079A
公开(公告)日：2007-06-13
申请号：KR1020060043109
申请日：2006-05-12
Applicant: 한국전자통신연구원
Abstract: A localization system and method of a mobile robot using a camera and a mark are provided to automatically calculate the distance between nodes to create a topology map by using a newly installed mark as a node. A localization system of a mobile robot using a camera and a mark includes n marks(200), a camera(110), a mark detector(120), a robot location detector(130), a mark location estimating part(140), a topology map creator(150), and a robot controller(160). The n marks have a wireless communication function. The camera photographs the marks. The mark detector detects at least two of the marks. The robot location detector calculates the location of a mobile robot(100) by using the detected marks. The mark location estimating part calculates the location of a new mark on absolute coordinates. The topology map creator creates a topology map of the mobile robot by using the calculated location of the new mark. The robot controller controls traveling of the mobile robot by using the topology map.
Abstract translation: 提供使用相机和标记的移动机器人的定位系统和方法，以通过使用新安装的标记作为节点来自动计算节点之间的距离以创建拓扑图。 使用相机和标记的移动机器人的定位系统包括n个标记（200），照相机（110），标记检测器（120），机器人位置检测器（130），标记位置估计部分（140） 拓扑图创建器（150）和机器人控制器（160）。 n标记具有无线通信功能。 相机拍摄标记。 标记检测器检测至少两个标记。 机器人位置检测器通过使用检测到的标记来计算移动机器人（100）的位置。 标记位置估计部分计算绝对坐标上新标记的位置。 拓扑图创建者通过使用新标记的计算位置创建移动机器人的拓扑图。 机器人控制器通过使用拓扑图控制移动机器人的行进。
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公开(公告)号：KR100669250B1
公开(公告)日：2007-01-16
申请号：KR1020050103285
申请日：2005-10-31
Applicant: 한국전자통신연구원
CPC classification number: G01S5/16 , G01S1/70 , G05D1/0246
Abstract: A system and a method for artificial target-based real time location calculation are provided to calculate the location of a robot regardless of the traveling state of the robot. A system comprises an image processing module(3), a location calculation module(4), and a target discriminating module(6). The image processing module detects image coordinates of the artificial target serving as a target of a light source for emitting light of a specific wavelength having a specific identification from the image signal acquired by photographing the artificial target arranged in a specific space. The location calculation module calculates the present location by matching the detected image coordinates of the artificial target and pre-stored space coordinates of the artificial target. The target discriminating module performs artificial target tracking and image coordinate estimation, and compares the estimated image coordinates and the detected image coordinates, and updates the present location position by selectively using the image coordinate estimation for discriminating artificial targets.
Abstract translation: 提供了一种用于人造目标的实时位置计算的系统和方法，用于计算机器人的位置，而不管机器人的行进状态如何。 系统包括图像处理模块（3），位置计算模块（4）和目标识别模块（6）。 图像处理模块从通过拍摄布置在特定空间中的人造目标获取的图像信号中检测用作用于发射具有特定识别的特定波长的光的光源的目标的人造对象的图像坐标。 位置计算模块通过匹配检测到的人造目标的图像坐标和人造目标的预先存储的空间坐标来计算当前位置。 目标识别模块进行人工目标跟踪和图像坐标估计，并且比较估计的图像坐标和检测到的图像坐标，并且通过选择性地使用用于鉴别人为目标的图像坐标估计来更新当前位置位置。
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公开(公告)号：KR100513789B1
公开(公告)日：2005-09-09
申请号：KR1020020080336
申请日：2002-12-16
Applicant: 한국전자통신연구원
IPC: H04N5/225
Abstract: 본 발명은 유무선 통신 하부구조 혹은 인터넷을 이용하여 사용자에게 언제 어디서나 영상 정보를 추출하고 가공, 전송, 저장 및 이를 이용한 정보 서비스의 제공을 위해 디지털 카메라를 포함한 각종 영상 장비를 통해 획득된 가공되지 않은 영상으로부터 렌즈 왜곡 보정된 영상을 생성하고, 촬영 당시의 장비의 자세 정보를 실시간으로 획득하여 정사영상을 생성하는 기술에 관한 것이다. 이를 위해 본 발명은 영상 장비에 사용되는 렌즈의 왜곡 성분을 카메라 캘리브레이션을 통해 미리 결정하고, 이를 장비의 내부에 저장하도록 함으로써 사용자는 장비를 사용시에 특별한 캘리브레이션 과정을 수행할 필요가 없을 뿐만 아니라 본 발명에서 고안된 이미지 워핑 방법을 이용하여 실시간으로 왜곡 보정된 고품질의 영상을 획득할 수 있다. 특히, 각종 정보 서비스 및 영상에 기반한 정보 추출의 경우 촬영된 패턴이 영상 장비의 촬영 당시의 자세에 의해 기하학적 성질이 변하는 것을 막고, 최종적으로 신뢰성 높은 정보 추출이 이루어지도록 하기 위해 정사영상을 생성하도록 한다.
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Patent Agency Ranking
公开(公告)号：KR1020040053877A
公开(公告)日：2004-06-25
申请号：KR1020020080336
申请日：2002-12-16
Applicant: 한국전자통신연구원
IPC: H04N5/225
CPC classification number: H04N5/23216 , H04N5/23229 , H04N5/238
Abstract: PURPOSE: A method for correcting lens distortion and producing orthoimage and a digital camera by using the same are provided to produce the orthoimage from the planar pattern photographed by the digital camera taking an arbitrary rotational angle after processing the lens distortion correction by using automatically computed camera's relative rotational angle information to a plane. CONSTITUTION: A camera parameter previously obtained through a camera calibration(901) is stored to the inside of a digital camera(910). An image(911) obtained by a user(902) is passed through a lens distortion correction module(912). An image in which a radial lens distortion is corrected is transmitted to an orthoimage generation module(913). An image which is composed again in the orthoimage generation module(913) is inputted to a pattern recognition module(914). Information extraction and pattern recognition processes are performed by the pattern recognition module(914) and then transmitted to a display(903) and a user(902) through a communication module(915).
Abstract translation: 目的：提供一种用于通过使用它来校正透镜畸变并产生正射影像和数字照相机的方法，以便通过使用自动计算的相机的处理透镜畸变校正后的数字照相机拍摄的任意旋转角拍摄的平面图案产生正射影像 相对旋转角度信息到平面。 构成：先前通过摄像机校准获得的摄像机参数（901）被存储到数字照相机（910）的内部。 由用户（902）获得的图像（911）通过透镜畸变校正模块（912）。 校正径向透镜畸变的图像被发送到正射图像生成模块（913）。 在正射图像生成模块（913）中再次组合的图像被输入到图案识别模块（914）。 信息提取和模式识别处理由模式识别模块（914）执行，然后通过通信模块（915）发送到显示器（903）和用户（902）。
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公开(公告)号：KR1020040022348A
公开(公告)日：2004-03-12
申请号：KR1020020053623
申请日：2002-09-05
Applicant: 한국전자통신연구원
IPC: H04N5/225
CPC classification number: H04N5/225 , G03B21/142 , H04N5/205
Abstract: PURPOSE: An image-based lens distortion correcting apparatus and a method therefor are provided to reduce the quantity of calculations in an image analysis procedure. CONSTITUTION: An image is received(401), one-dimensional image pixels are extracted from the image(402), and a coordinate value of each of the pixels is recorded(403). One-dimensional pixel sampling is performed for the image(404), straight lines in a radial direction are obtained on the basis of the center of the image. Pixels intersect the straight lines are stored in an one-dimensional image arrangement(405). A point at which a range of a lens distortion parameter of the image becomes the maximum is found, and the range is divided into intervals to increase the lens distortion parameter. A luminance value of pixel coordinate values after a distortion of the image is corrected by increasing the lens distortion parameter is obtained through inverse spatial mapping. A sampling angle for the entire image is increased. The one-dimensional image arrangement is split into records(407), and the lens distortion parameter having the smallest representative value is set as a lens distortion parameter(409). A distortion-corrected resultant image is obtained from the original image using the lens distortion parameter and provided to a thumbnail image display(410).
Abstract translation: 目的：提供一种基于图像的镜头畸变校正装置及其方法，以减少图像分析程序中的计算量。 构成：接收图像（401），从图像（402）提取一维图像像素，并记录每个像素的坐标值（403）。 对图像（404）执行一维像素采样，基于图像的中心获得径向的直线。 与直线相交的像素被存储在一维图像排列（405）中。 找到图像的透镜失真参数的范围变为最大的点，并且将该范围划分为间隔以增加透镜失真参数。 通过增加透镜失真参数来校正图像失真后的像素坐标值的亮度值，通过逆空间映射获得。 整个图像的采样角度增加。 将一维图像排列分割为记录（407），将具有最小代表值的透镜失真参数设置为透镜失真参数（409）。 使用透镜失真参数从原始图像获得失真校正的合成图像，并提供给缩略图图像显示（410）。
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公开(公告)号：KR1020140056790A
公开(公告)日：2014-05-12
申请号：KR1020120122555
申请日：2012-10-31
Applicant: 한국전자통신연구원
IPC: G06T7/00
CPC classification number: G06K9/6215 , G06K9/00785 , G06K9/00805
Abstract: The present invention relates to an image recognition apparatus and a method thereof which does not require a complicated calculation process to define a search area and can improve an image processing speed to detect a target object by eliminating unnecessary candidate areas of an image, regardless of a distance between a camera and the target object, by detecting a valid size of the target object in the image.
Abstract translation: 本发明涉及一种图像识别装置及其方法，其不需要复杂的计算处理来定义搜索区域，并且可以通过消除图像的不必要的候选区域来提高图像处理速度以检测目标对象，而不管 通过检测图像中的目标对象的有效大小来确定相机与目标对象之间的距离。
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公开(公告)号：KR1020130108898A
公开(公告)日：2013-10-07
申请号：KR1020120030730
申请日：2012-03-26
Applicant: 한국전자통신연구원
CPC classification number: G01C21/3446
Abstract: PURPOSE: A device and a method of searching a fast path using learned heuristic function to quickly search a path by using a heuristic group for a path search process. CONSTITUTION: An input unit (120) is asked to search a path to the destination by receiving the current location information and the destination information from a user. A location identifier (110) obtains the current location information of the user when the path search is requested. A control unit (130) searches the path from a start node corresponding to the current location information to a destination node corresponding to the destination information on a map by using a heuristic evaluation function. [Reference numerals] (110) Location identifier; (120) Input unit; (130) Control unit; (140) Learning unit; (150) Storage unit
Abstract translation: 目的：使用学习的启发式函数搜索快速路径的设备和方法，通过使用启发式组进行路径搜索过程来快速搜索路径。 构成：通过从用户接收当前位置信息和目的地信息，要求输入单元（120）搜索到目的地的路径。 当请求路径搜索时，位置标识符（110）获得用户的当前位置信息。 控制单元（130）通过使用启发式评估函数从与当前位置信息相对应的开始节点的路径中搜索与地图上的目的地信息相对应的目的地节点。 （附图标记）（110）位置标识符; （120）输入单元; （130）控制单元; （140）学习单位; （150）存储单元
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公开(公告)号：KR1020130036514A
公开(公告)日：2013-04-12
申请号：KR1020110100635
申请日：2011-10-04
Applicant: 한국전자통신연구원
CPC classification number: G06K9/4671 , G06K9/00805 , G06T5/005 , G06T7/11 , G06T7/174 , G06T7/194 , G06T2207/10048 , G06T2207/20224 , G06T2207/30236 , G06T7/155 , G06T7/337 , G06T7/543
Abstract: PURPOSE: An object detection device in an image and a method thereof are provided to divide an object area in an original image by using a thermal image for the image, thereby detecting an object. CONSTITUTION: An object detection unit(102) detects an object from an input image by using a thermal image. A restoration unit(106) restores an in-painting area by using surroundings information of the in-painting area set in an in-painting area setting unit(104) in the input image. A similarity comparison unit(108) determines whether or not the object is existed in the input image through similarity comparison of a restoration image and the input image. When the object is existed, an object area division unit(110) extracts an area of the object. [Reference numerals] (102) Object detection unit; (104) In-painting area setting unit; (106) Restoration unit; (108) Similarity comparison unit; (110) Object area division unit; (AA) Obtained image; (BB) Division result of an object area;
Abstract translation: 目的：提供图像中的物体检测装置及其方法，通过使用图像的热图像来分割原始图像中的对象区域，从而检测对象。 构成：物体检测单元（102）通过使用热图像从输入图像检测物体。 恢复单元（106）通过使用设置在输入图像中的在画区域设置单元（104）中的绘画区域的环境信息来恢复绘画区域。 相似度比较单元（108）通过恢复图像和输入图像的相似性比较来确定输入图像中是否存在对象。 当对象存在时，对象区域分割单元（110）提取对象的区域。 （附图标记）（102）对象检测单元; （104）绘画区设定单位; （106）修复单位; （108）相似性比较单位; （110）对象区划单位; （AA）获取图像; （BB）对象区域的分割结果;
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