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Patent Agency Ranking
公开(公告)号：KR1020110077850A
公开(公告)日：2011-07-07
申请号：KR1020090134518
申请日：2009-12-30
Applicant: 포항공과대학교 산학협력단
Abstract: PURPOSE: A method for detecting an edge shape using an ultrasonic sensor is provided to stably perform Simultaneous Localization and Mapping. CONSTITUTION: A method for detecting an edge shape using an ultrasonic sensor is as follows. Data about surrounding objects are collected using a sensor(S101). The union of two data among the collected data is extracted(S102). Imaginary circumscribed circles, which border the beam of the extracted data, are set(S103). Circumscribed circles, in which the data except the extracted data recognize, are compared with the imaginary circumscribed circles and are determined(S104). The determined circumscribed circles are classified(S105). The centers of the classified circumscribed circles are derived(S106).
Abstract translation: 目的：提供使用超声波传感器检测边缘形状的方法，以稳定地执行同时定位和映射。 构成：使用超声波传感器检测边缘形状的方法如下。 使用传感器收集关于周围物体的数据（S101）。 提取收集的数据中的两个数据的并集（S102）。 设定与提取的数据的光束相邻的虚拟的外接圆（S103）。 将除了提取出的数据以外的数据识别出的圆周与假想的外接圆进行比较，并确定（S104）。 将确定的外接圆分类（S105）。 导出分类外接圆的中心（S106）。
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公开(公告)号：KR100787242B1
公开(公告)日：2007-12-21
申请号：KR1020060102906
申请日：2006-10-23
Applicant: 포항공과대학교 산학협력단
CPC classification number: G06Q50/10 , G05D1/02 , G06F17/30241 , G06N5/04
Abstract: A reliability evaluation method of a feature basis map by using occupancy probability of grids is provided to periodically evaluate reliability for object's feature extracted under a dynamic environment by using occupancy probability of grids. The reliability evaluation method of a feature map for a robot includes following steps: the sensing step for sensing the object's feature by using a number of ultrasonic sensors; the prediction step for predicting location uncertainty of the object by using location uncertainty of the robot and sensing uncertainty of the sensor; the map drawing step for drawing an occupancy probability gird map by using the sensor; and the evaluation step for evaluating reliability of the extracted feature by using occupancy probability of the grids.
Abstract translation: 提供了通过使用网格占用概率的特征基图的可靠性评估方法，以通过使用网格的占用概率来定期评估在动态环境下提取的对象特征的可靠性。 用于机器人的特征图的可靠性评估方法包括以下步骤：通过使用多个超声波传感器来感测物体的特征的感测步骤; 用于通过使用机器人的位置不确定度和传感器的不确定度来预测物体的位置不确定性的预测步骤; 所述地图绘制步骤，用于通过使用所述传感器绘制占用概率线图; 以及评估步骤，用于通过使用网格的占用概率来评估所提取的特征的可靠性。
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公开(公告)号：KR100635558B1
公开(公告)日：2006-10-17
申请号：KR1020050046944
申请日：2005-06-01
Applicant: 학교법인 포항공과대학교 , 포항공과대학교 산학협력단
IPC: G06F19/00
Abstract: A method for making a shape-based map for a mobile robot is provided to extract a line, point, or circular shape by associating trajectories of distance information reflecting an effective beam width of a sensor, and update shape information by associating the previously extracted shape and the trajectory of the new distance information. The distance information for the shape is received by using sensor parts. The distance information corresponding to the same distance area is selected among the distance information. The trajectories, which are generated from two different positions, for the distance information corresponding to the same distance area are associated with each other. It is checked whether the trajectories are corresponding to a line, a point, or an arc through association, and the checked shapes are clustered. The extracted line, point, or arc shapes are associated with the trajectories for the new distance information. The shape information is updated through the association.
Abstract translation: 提供一种用于制作用于移动机器人的基于形状的地图的方法，以通过将反映传感器的有效波束宽度的距离信息的轨迹相关联来提取线，点或圆形，并且通过将先前提取的形状 以及新的距离信息的轨迹。 通过使用传感器部件来接收形状的距离信息。 在距离信息中选择对应于相同距离区域的距离信息。 对于对应于相同距离区域的距离信息，从两个不同位置生成的轨迹彼此相关联。 通过关联来检查轨迹是否对应于线，点或弧，并且检查的形状是聚类的。 所提取的线，点或弧形与新距离信息的轨迹相关联。 形状信息通过关联进行更新。
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公开(公告)号：KR101131164B1
公开(公告)日：2012-03-28
申请号：KR1020090134518
申请日：2009-12-30
Applicant: 포항공과대학교 산학협력단
Abstract: 본 발명에 따른 초음파 센서를 이용한 모서리 형상 탐지 방법은 강인한 형상에 대한 동시적 위치추정 및 지도작성을 용이하게 수행할 수 있도록 센서를 이용하여 주변 물체에 대한 데이터를 수집하는 데이터 수집 단계와 수집된 데이터 중 2 개의 데이터 조합을 추출하는 데이터 추출 단계와 데이터 조합에서 데이터의 빔과 접하는 가상의 외접원을 추출하는 가상 외접원 설정 단계와 추출된 데이터 이외의 데이터가 인지하는 외접원과 가상의 외접원을 비교하여 일치하는 외접원을 특정하는 외접원 확정 단계와, 확정된 복수 개의 외접원들을 유사한 그룹으로 분류하는 그룹 분류 단계, 및 분류된 외접원들의 중심을 도출하는 대표점 형성 단계를 포함한다.
탐지, 모서리, 초음파 센서, 지도, 코너 서클링-
公开(公告)号：KR100881228B1
公开(公告)日：2009-02-05
申请号：KR1020070090588
申请日：2007-09-06
Applicant: 포항공과대학교 산학협력단
Abstract: A object detecting method using the ultrasonic sensor is provided to improve the response speed by exactly detecting the object using simple method and omitting data in which the reliability is low. A object detecting method using the ultrasonic sensor comprises a step for initializing the lattices of the lattice map(S101); a step for collecting data about scatter it uses sensor(S102); step for confirming the location in which the section paper data is stored in phase of lattice(S103); a step for giving index it is shape according to the degree of accordance in which data recognize of shape(S104); a step for giving the weighted value according to index it is shape in data(S105); and a step for renewing the occupancy probability about lattice it uses data in which the weighted value is given(S106).
Abstract translation: 提供使用超声波传感器的物体检测方法，通过使用简单的方法精确地检测物体并省略可靠性低的数据来提高响应速度。 使用超声波传感器的物体检测方法包括用于初始化格子图的格子的步骤（S101）。 收集关于散射的数据使用传感器的步骤（S102）; 步骤，用于确认在格子阶段存储分段纸数据的位置（S103）; 根据数据识别形状的一致程度给出索引的形状的步骤（S104）; 根据索引给出加权值的步骤是数据形状（S105）; 以及更新关于格子的占有概率的步骤，其使用其中给出加权值的数据（S106）。
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