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公开(公告)号：KR101372170B1
公开(公告)日：2014-03-10
申请号：KR1020120043724
申请日：2012-04-26
Applicant: 재단법인대구경북과학기술원
Abstract: 본 발명의 실시예에 따른 객체 위치 추정 장치는, 객체의 위치를 추정하는 객체 위치 추정 장치로서, 수용 공간 내에 존재하는 객체를 촬영할 수 있도록 고정 설치되며, 객체의 위치 정보를 일차적으로 추정하는 고정형 촬영부; 수용 공간 내의 상기 객체를 촬영할 수 있도록 이동 가능하게 설치되며, 객체의 위치 정보를 이차적으로 추정하는 이동형 촬영부; 및 고정형 촬영부에 의해 획득된 정보를 토대로 이동형 촬영부의 위치를 제어하는 제어부;를 포함할 수 있다. 본 발명의 실시예에 따르면, 이러한 구성에 의해서, 고정형 촬영부를 이용하여 객체의 위치를 대략적으로 추정한 후, 이동 가능한 이동형 촬영부를 이용하여 객체의 위치를 세부적으로 추정할 수 있어 객체의 위치를 정확하게 추정할 수 있다.
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公开(公告)号：KR101381075B1
公开(公告)日：2014-04-14
申请号：KR1020130048418
申请日：2013-04-30
Applicant: 재단법인대구경북과학기술원
Abstract: The present invention relates to an apparatus and method for estimating a position of an object. An object position estimating apparatus according to the present invention comprises: a first height estimating part which is connected to a first sensor part including at least one sensor for sensing a position of at least one object on a first side surface and estimates a first height value of the object, based on first sensing information received from the first sensor part; a second height estimating part which is connected to a second sensor part including at least one sensor for sensing a position of the object on a second side surface adjacent to the first side surface and estimates a second height value of the object, based on second sensing information received from the second sensor part; a position estimating part which is connected to a third sensor part including at least one sensor for recognizing the object on a plane and estimates a plane position value of the object, based on third sensing information received from the third sensor part; and a control part which calculates a final height value based on the first and second height values matching with the estimated plane position value and estimates a three-dimensional position of the object by using the final height value and the plane position value. As such, according to the present invention, a user is supplied with a three-dimensional position map including detailed positions of objects in a space such as a stable by using a plurality of sensors, so that the user can efficiently manage the objects. [Reference numerals] (111) Signal synchronizing part; (112) Plane object position estimating part; (113) Side object height estimating part; (114) Control part; (115) Storage part; (116) Display part; (117) Notification part
Abstract translation: 本发明涉及一种估计物体位置的装置和方法。 根据本发明的物体位置估计装置包括：第一高度估计部分，其连接到第一传感器部分，第一传感器部分包括用于感测第一侧表面上的至少一个物体的位置的至少一个传感器，并且估计第一高度值 基于从第一传感器部分接收的第一感测信息; 第二高度估计部分，其连接到第二传感器部分，所述第二传感器部分包括至少一个传感器，用于感测物体在与第一侧表面相邻的第二侧表面上的位置，并且基于第二感测估计物体的第二高度值 从第二传感器部分接收的信息; 位置估计部，其连接到第三传感器部，所述第三传感器部包括至少一个用于在平面上识别对象的传感器，并且基于从所述第三传感器部接收到的第三感测信息来估计所述对象的平面位置值; 以及控制部，其基于与所述估计平面位置值匹配的所述第一高度值和所述第二高度值来计算最终高度值，并且通过使用所述最终高度值和所述平面位置值来估计所述对象的三维位置。 因此，根据本发明，通过使用多个传感器向用户提供包括诸如稳定的空间中的物体的详细位置的三维位置图，使得用户可以有效地管理物体。 （111）信号同步部; （112）平面对象位置估计部; （113）侧对象高度估计部; （114）控制部分; （115）储存部分; （116）显示部分; （117）通知部分
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公开(公告)号：KR1020130120663A
公开(公告)日：2013-11-05
申请号：KR1020120043724
申请日：2012-04-26
Applicant: 재단법인대구경북과학기술원
CPC classification number: H04N5/23251 , G06K9/00362 , H04N7/18
Abstract: An object position estimation apparatus according to the embodiment of the present invention is an object position estimation apparatus for estimating the position of an object, and comprises: a fixed photographing unit which is installed and fixed to photograph the object existing inside an accommodation space, and primarily estimates the position information of the object; a movable photographing unit which is movably installed to photograph the object existing inside the accommodation space, and secondarily estimates the position information of the object; and a control unit for controlling the position of the movable photographing unit based on the information obtained by the fixed photographing unit. According to the present invention, by this configuration, it is possible to estimate the position of an object accurately by estimating the position of the object in detail by using the movable photographing unit after approximately estimating the position of the object by using the fixed photographing unit.
Abstract translation: 根据本发明的实施例的物体位置估计装置是用于估计物体的位置的物体位置估计装置，包括：固定拍摄单元，其被安装和固定以拍摄存在于容纳空间内的物体;以及 主要估计对象的位置信息; 可移动拍摄单元，其可移动地安装以拍摄存在于容纳空间内的对象，并且二次估计对象的位置信息; 以及控制单元，用于基于由固定拍摄单元获得的信息来控制可动拍摄单元的位置。 根据本发明，通过该结构，可以通过使用固定摄影单元在近似估计物体的位置之后通过使用可动拍摄单元来详细估计物体的位置来精确地估计物体的位置 。
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