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公开(公告)号：KR101562462B1
公开(公告)日：2015-10-22
申请号：KR1020140052812
申请日：2014-04-30
Applicant: 고려대학교 산학협력단
IPC: G06T17/05
Abstract: 본발명은, 대상영역에대한포인트데이터와, 상기대상영역을분할하기위한사전설정격자개수및 상기사전설정격자개수로분할구역화되는격자내 포함되는포인트데이터의최소개수를설정하는포인트데이터의최소개수를설정하는포인트최소개수를포함하는사전설정데이터가입력되는입력단계와, 상기사전설정격자개수로상기대상영역을분할하여얻어진개개의부할격자내 포인트데이터의평균개수와상기포인트최소개수를비교하여, 상기대상영역에대한격자분할의적합여부를판단하고조정하는격자조정단계와, 상기대상영역의분할격자중 영역에존재하는대상체에대한형상의외곽을이루는포인트데이터가포함된분할격자여부를판단하여해당분할격자가외곽분할격자인지여부를확인하고, 영역이존재하는좌표축상 상기외곽분할격자내 해당배향에대한최외곽포인트데이터를나타내는외곽포인트를확인하는외곽확인단계와, 상기외곽확인단계에서확인된외곽포인트및 외곽분할격자를이용하여사전설정된기준에따라분할격자중 어느하나가다른분할격자와동일그룹인지여부를확인판단하고그룹핑영역분할하는그룹핑단계와, 사전설정된기준에따라상기해당그룹의외곽포인트를연결하여외곽선을형성하는아웃라이닝단계를포함하는격자기반외곽다각형추출방법을제공한다.
Abstract translation: 本发明涉及一种基于网格的外多边形提取方法。 该方法包括：输入步骤，接收包括目标区域的点数据的预设数据，用于划分目标区域的预设网格的数量，关于包括在被划分和分割的网格中的点数据的点设置的最小数量 通过预设网格的数量; 网格调整步骤，将通过将目标区域划分的每个划分网格中的点数据的平均数与具有最小点数的预定数量的网格进行比较，以确定目标区域的网格划分的适当性 并相应调整网格; 确定目标区域中的哪个划分网格中的哪一个包括形成目标对象的外边缘的点数据的外边缘检查步骤，检查对应的划分网格是否是外边缘分割网格，以及检查显示 外边缘点数据，用于在该区域上的坐标轴上的外边缘分割网格中的相应取向; 使用在外边缘检查步骤检查的外边缘点和外边缘分割网格的分组步骤，基于预设参考来检查并确定分割网格中的一个是否与另一分割网格在同一组中; 以及根据预设参考连接相应组的外边缘点以形成外边缘的概要步骤。
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2.发明授权
公开(公告)号：KR101391554B1
公开(公告)日：2014-05-02
申请号：KR1020120078979
申请日：2012-07-19
Applicant: 고려대학교 산학협력단
Abstract: 본발명은, 감지부, 저장부와, 연산부와, 제어부와, 구동부를구비하는이동로봇을제공하는제공단계와, 상기제어부의감지제어신호에따라상기감지부가주변영역에대한포인트데이터를감지하는감지단계와, 상기감지부가감지한포인트데이터및 상기저장부의사전설정데이터를이용하여상기제어부가평면특징을추출하는평면특징추출단계와, 상기이전평면특징및 상기현재평면특징를이용하여상기이동로봇의이동에따라획득되는주변환경에대한지도정보를정합하는정보교합단계를포함하고, 상기평면특징추출단계는: 주변환경에대한상기포인트데이터를사전설정된큐브사이즈로분할된큐브단위의포인트데이터및 해당큐브단위의정보를순차적으로저장하는포텐셜큐와, 상기포텐셜큐에서순차적으로처리되어단일의평면특징을구비하는큐브단위의정보를상기포텐셜큐로부터전달받는플레인큐를이용하는이동로봇의지도형성및 위치인식방법을제공하여, 주변환경복잡도에따라계층적으로차등분할되거나병합되는평면추출과정을가능하게한다.
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公开(公告)号：KR1020140013172A
公开(公告)日：2014-02-05
申请号：KR1020120078978
申请日：2012-07-19
Applicant: 고려대학교 산학협력단
Abstract: Provided is a map building and position recognizing method using a mobile robot, wherein the method comprises: a providing step of providing the mobile robot including a detecting part, a storing part, a calculating part calculating plane features from point data, a controlling part connected to the calculating part and applying a calculation control signal, and a driving part moving depending on the driving control signal of the controlling part; a detecting step of allowing the detecting part to detect the point data for a peripheral area depending on the detection control signal of the controlling part; a plane feature extracting step of allowing the controlling part to extract the plane features using the point data detected by the detecting part and predetermined data in the storing part; and a data associating step of matching map data for a peripheral environment using a space relation derived from prior plane features and present plane features, wherein the map data for the peripheral area is obtained by the motion of the mobile robot, and the data associating step includes: a sampling step of selecting a pair of rotation matching plane features between the present plane features and the prior plane features; and a consensus step of estimating the space relation between the prior position of the mobile robot and the present position of the mobile robot using the pair of rotation matching plane features and identifying whether or not the pair of rotation matching plane features is included in a group of pairs of the plane features.
Abstract translation: 提供了一种使用移动机器人的地图构建和位置识别方法，其中所述方法包括：提供步骤，提供所述移动机器人，所述移动机器人包括检测部分，存储部分，计算部分，从点数据计算平面特征，连接到控制部分 计算部分和应用计算控制信号;以及驱动部分，根据控制部分的驱动控制信号移动; 检测步骤，根据控制部的检测控制信号，使检测部检测周边区域的点数据; 平面特征提取步骤，允许控制部分使用由检测部分检测的点数据和存储部分中的预定数据提取平面特征; 以及数据关联步骤，使用从先前平面特征和当前平面特征导出的空间关系匹配用于外围环境的地图数据，其中通过移动机器人的运动获得用于周边区域的地图数据，并且数据关联步骤 包括：采样步骤，在当前平面特征与现有平面特征之间选择一对旋转匹配平面特征; 以及共识步骤，使用所述一对旋转匹配平面特征来估计所述可移动机器人的所述先前位置与所述可移动机器人的当前位置之间的空间关系，并且识别所述一对旋转匹配平面特征是否包括在组中 的飞机特征对。
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公开(公告)号：KR101746792B1
公开(公告)日：2017-06-13
申请号：KR1020150177226
申请日：2015-12-11
Applicant: 고려대학교 산학협력단
Abstract: 회전모듈과거리센서간의위치변환관계추정방법을제공한다. 본발명의일 실시예에따른회전모듈과거리센서간의위치변환관계추정방법은회전모듈과거리센서를연결하는소정이격거리의연결부가회전되면, 복수의회전된위치에서의상기연결부의복수의회전정보를산출하는단계; 상기복수의회전위치의상기거리센서에서레이저를대상평면에투사하고상기대상평면에형성된복수의투사라인을이용하여상기회전모듈과상기거리센서간의방향정보를산출하는단계; 상기방향정보를이용하여상기회전모듈과상기거리센서간의이격거리정보를산출하는단계; 및상기복수의회전정보, 상기방향정보및 상기이격거리정보에기초하여상기회전모듈과상기거리센서간의위치변환관계를추정하는단계를포함한다.
Abstract translation: 并且提供了估计旋转模块和距离传感器之间的位置关系的方法。 根据本发明实施例的估计旋转模块和距离传感器之间的位置转换关系的方法是用于估计旋转模块和距离传感器之间的位置转换关系的方法， 计算; 在多个旋转位置处从距离传感器向目标平面投射激光并使用形成在目标平面上的多个投影线来计算旋转模块和距离传感器之间的方向信息; 使用方向信息计算旋转模块和距离传感器之间的距离信息; 并且基于多个旋转信息，方向信息和分离距离信息来估计旋转模块和距离传感器之间的位置转换关系。
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Patent Agency Ranking
公开(公告)号：KR1020120057440A
公开(公告)日：2012-06-05
申请号：KR1020100119168
申请日：2010-11-26
Applicant: 고려대학교 산학협력단
Abstract: PURPOSE: A high-speed plane extraction method and a robot moving device using the same are provided to minimize loads on a memory by preventing unnecessary repeated calculations using a hierarchical division system. CONSTITUTION: A high-speed plane extraction method is as follows. A sensor unit detects sensor information including distance information on an object region(S10). Plane information is extracted based on the sensor information. Whether the extracted plane information fits or not is determined(S20). The identified plane information of the object region is expanded based on the obtained plane information(S30). The frame about the object region is divided into a plurality of sub frames, and the plane information is extracted and evaluated.
Abstract translation: 目的：提供高速平面提取方法和使用其的机器人移动装置，以通过防止使用分级分割系统的不必要的重复计算来最小化存储器上的负载。 构成：高速平面提取方法如下。 传感器单元检测包括物体区域上的距离信息的传感器信息（S10）。 基于传感器信息提取平面信息。 确定提取的平面信息是否适合（S20）。 基于获得的平面信息来扩展对象区域的识别平面信息（S30）。 关于对象区域的帧被划分为多个子帧，并且提取和评估平面信息。
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公开(公告)号：KR101391525B1
公开(公告)日：2014-05-07
申请号：KR1020120078978
申请日：2012-07-19
Applicant: 고려대학교 산학협력단
Abstract: 본발명은, 감지부와, 저장부와, 상기포인트데이터로부터평면특징으로연산하는연산부와, 상기상기연산부와연결되어연산제어신호를인가하는제어부와, 상기제어부의구동제어신호에따라이동하는구동부를구비하는이동로봇을제공하는제공단계와, 상기제어부의감지제어신호에따라상기감지부가주변영역에대한포인트데이터를감지하는감지단계와, 상기감지부가감지한포인트데이터및 상기저장부의사전설정데이터를이용하여상기제어부가평면특징을추출하는평면특징추출단계와, 상기이전평면특징및 상기현재평면특징으로부터도출되는공간관계를이용하여상기이동로봇의이동에따라획득되는주변환경에대한지도정보를정합하는정보교합단계를포함하고, 상기정보교합단계는: 상기현재평면특징및 상기이전평면특징간의회전일치평면특징짝을선택하는샘플링단계와, 상기회전일치평면특징짝을이용하여상기이동로봇의이전위치와현재위치간의공간관계를추정하고, 상기회전일치평면특징짝을평면특징짝 집합에포함여부를확인하는컨센서스단계를포함하는것을특징으로하는이동로봇의지도형성및 위치인식방법을제공한다
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公开(公告)号：KR1020170008133A
公开(公告)日：2017-01-23
申请号：KR1020150177226
申请日：2015-12-11
Applicant: 고려대학교 산학협력단
Abstract: 회전모듈과거리센서간의위치변환관계추정방법을제공한다. 본발명의일 실시예에따른회전모듈과거리센서간의위치변환관계추정방법은회전모듈과거리센서를연결하는소정이격거리의연결부가회전되면, 복수의회전된위치에서의상기연결부의복수의회전정보를산출하는단계; 상기복수의회전위치의상기거리센서에서레이저를대상평면에투사하고상기대상평면에형성된복수의투사라인을이용하여상기회전모듈과상기거리센서간의방향정보를산출하는단계; 상기방향정보를이용하여상기회전모듈과상기거리센서간의이격거리정보를산출하는단계; 및상기복수의회전정보, 상기방향정보및 상기이격거리정보에기초하여상기회전모듈과상기거리센서간의위치변환관계를추정하는단계를포함한다.
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8.发明公开
公开(公告)号：KR1020140013173A
公开(公告)日：2014-02-05
申请号：KR1020120078979
申请日：2012-07-19
Applicant: 고려대학교 산학협력단
Abstract: The present invention is to provide a plane extracting method, and a map building and position recognizing method having the same and using a mobile robot, wherein the map building and position recognizing method comprises: a providing step of providing the mobile robot including a detecting part, a storing part, a calculating part, a controlling part, and a driving part; a detecting step of allowing the detecting part to detect point data for a peripheral area depending on the detection control signal of the controlling part; a plane feature extracting step of allowing the controlling part to extract plane features using the point data detected by the detecting part and predetermined data in the storing part; and a data associating step of matching map data for a peripheral environment using a space relation derived from prior plane features and present plane features, wherein the map data for the peripheral area is obtained by the motion of the mobile robot. In the plane feature extracting step, a potential cue sequentially storing point data with cube units and data for the corresponding cube units, and a plane cue receiving the data for the cube units from the potential cue are used so that a plane extracting process for hierarchically and differentially partitioning the point data or integrating the plane features depending on the complexity of the peripheral environment is possible, wherein the point data with the cube units is generated by partitioning the point data for the peripheral environment into predetermined cube sizes, and the data for the cube units has single plane features after sequentially processed in the potential cue.
Abstract translation: 本发明提供一种平面提取方法，以及具有该平面提取方法的地图构建和位置识别方法，并使用移动机器人，其中地图构建和位置识别方法包括：提供步骤，提供移动机器人，其包括检测部分 ，存储部，计算部，控制部和驱动部; 检测步骤，根据控制部的检测控制信号，使检测部检测周边区域的点数据; 平面特征提取步骤，允许所述控制部分使用由所述检测部分检测到的点数据和所述存储部分中的预定数据提取平面特征; 以及数据关联步骤，使用从现有平面特征和当前平面特征导出的空间关系来匹配用于外围环境的地图数据，其中通过移动机器人的运动获得用于外围区域的地图数据。 在平面特征提取步骤中，使用顺序地存储具有立方体单位的点数据的潜在线索和用于相应立方体单元的数据，以及从电位提示接收立方体单元的数据的平面提示，使得分层地提取平面提取处理 并且根据外围环境的复杂性对点数据进行差分分割或整合平面特征是可能的，其中通过将外围环境的点数据划分成预定的立方体尺寸来生成具有多维数据集单元的点数据，并且数据用于 立方体单元在电位提示中顺序处理后具有单平面特征。
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公开(公告)号：KR101242354B1
公开(公告)日：2013-03-14
申请号：KR1020100119168
申请日：2010-11-26
Applicant: 고려대학교 산학협력단
Abstract: 본 발명은, 센서부가 대상 영역에 대한 거리 정보를 포함하는 센서 정보를 감지하는 감지 단계와, 상기 감지 단계에서의 센서 정보에 기초하여 평면 정보를 추출하고 추출된 평면 정보에 대한 적합도를 판단하는 평면 정보 추출 평가 단계와, 상기 평면 정보 추출 평가 단계에서 얻어진 평면 정보에 기초하여 대상 영역의 확인된 평면 정보를 확장시키는 특징 정보 확장 단계를 구비하고, 상기 평면 정보 추출 평가는 대상 영역에 대하여 복수 개의 서브 프레임으로 분할하여 평면 정보를 추출 평가하는 것을 특징으로 하는 고속 평면 추출 방법 및 이를 이용한 로봇 이동 장치를 제공한다.
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