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公开(公告)号：KR1020140049361A
公开(公告)日：2014-04-25
申请号：KR1020120115517
申请日：2012-10-17
Applicant: 한국과학기술원
CPC classification number: G06T17/05 , G01S19/42 , G06T7/33 , G06T7/85 , G06T2207/10032
Abstract: The present invention relates to a multiple sensor system, a three-dimensional world modeling device using the same, and a method thereof. The multiple sensor system performs calibration of front and side cameras and front and side distance measuring sensors; obtains data which is obtained by combining data of camera sensors and the distance measuring sensors by using a result of reflecting the data of the distance measuring sensor to an image; and generates the improved three-dimensional world model by using the data. [Reference numerals] (110) GPS receiving unit; (120) Position measuring unit; (130) Side camera; (140) Side distance measuring sensor; (150) Main control unit; (160) Front stereo camera; (170) Front distance measuring sensor
Abstract translation: 本发明涉及多传感器系统，使用该多传感器系统的三维世界建模装置及其方法。 多传感器系统执行正面和侧面相机以及前后距离测量传感器的校准; 通过使用将距离测量传感器的数据反映到图像的结果获得通过组合摄像机传感器和距离测量传感器的数据而获得的数据; 并通过使用数据生成改进的三维世界模型。 （附图标记）（110）GPS接收单元; （120）位置测量单元; （130）侧摄像头; （140）侧距测量传感器; （150）主控单元; （160）前置立体摄像机; （170）前测距传感器
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公开(公告)号：KR101220527B1
公开(公告)日：2013-01-21
申请号：KR1020110018502
申请日：2011-03-02
Applicant: 한국과학기술원
Abstract: 본 발명은 거리 측정 센서, 카메라 센서, GPS 수신부, 자세측정장치 상기 각 센서들을 제어하는 프로그램이 저장된 중앙 처리 제어부를 포함하고, 2차원 거리 측정 센서로부터의 거리 데이터와 카메라 센서로부터의 색 데이터를 융합하여 점군 데이터(Point Cloud Data, PCD)를 수득하고, GPS 및 자세측정장치로부터 이동체의 자세 데이터를 수득하여 2차원 센서로 3차원 환경을 복원할 수 있는 센서 시스템, 및 이를 이용하는 환경 지도 작성 시스템 및 방법에 관한 것이다.
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公开(公告)号：KR101268523B1
公开(公告)日：2013-05-28
申请号：KR1020120027835
申请日：2012-03-19
Applicant: 한국과학기술원
CPC classification number: G06K9/00637 , G02B26/123 , G06K9/6234
Abstract: PURPOSE: A fast scene understanding method in an urban environment using a laser scanner is provided to rapidly classify three-dimensional point cloud data, thereby generating a map which a robot can easily recognize. CONSTITUTION: A sensor sequentially obtains point cloud data about an environment(S10). A computer classifies the cloud data into a horizontal type, a vertical type, and a slope type according to the characteristics of points(S20). The computer detects or eliminates the points among the horizontal type point clouds corresponding to the ground surface(S30). The computer performs object segmentation of the point clouds corresponding to each object(S40). The computer performs object classification to classify the each segmented object as a specific object(S50). [Reference numerals] (AA) Start; (BB) Drawing a map; (S10) Obtaining continuous point cloud data; (S20) Classify continuous point clouds; (S30) Detect and remove ground surface; (S40) Divide objects; (S50) Classify the objects
Abstract translation: 目的：提供一种使用激光扫描仪的城市环境中的快速现场理解方法，以快速分类三维点云数据，从而生成机器人可以轻松识别的地图。 构成：传感器依次获得有关环境的点云数据（S10）。 计算机根据点的特征将云数据分类为水平型，垂直型和斜率类型（S20）。 计算机检测或消除对应于地面的水平型点云中的点（S30）。 计算机执行对应于每个对象的点云的对象分割（S40）。 计算机执行对象分类以将每个分割的对象分类为特定对象（S50）。 （附图标记）（AA）开始; （BB）绘制地图; （S10）获取连续点云数据; （S20）连续点云分类; （S30）检测并清除地面; （S40）划分物体; （S50）分类对象
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公开(公告)号：KR1020120099952A
公开(公告)日：2012-09-12
申请号：KR1020110018502
申请日：2011-03-02
Applicant: 한국과학기술원
Abstract: PURPOSE: A sensor system, an environment map making system using the same, and a method thereof are provided to restore a three-dimensional environment through a two-dimensional environment without an additional operation device. CONSTITUTION: One or more distance measuring sensors(140) detect a relative distance to a surrounding object from a moving body. A stereo camera(160) performs visual odometry. A central processing control unit(150) fuses location data and posture data of the moving body. The central processing control unit synchronizes distance data and color data. The central processing control unit calculates three-dimensional absolute coordinates values. [Reference numerals] (110) GPS receiving unit; (120) Posture measuring unit; (130, 160) Camera; (140) Distance measuring sensor; (150) Central process control unit
Abstract translation: 目的：提供一种传感器系统，使用该传感器系统的环境地图制作系统及其方法，以便在没有附加操作装置的情况下通过二维环境恢复三维环境。 构成：一个或多个距离测量传感器（140）从移动体检测与周围物体的相对距离。 立体摄像机（160）执行视觉测距。 中央处理控制单元（150）熔接移动体的位置数据和姿势数据。 中央处理控制单元同步距离数据和颜色数据。 中央处理控制单元计算三维绝对坐标值。 （附图标记）（110）GPS接收单元; （120）姿势测量单元; （130,160）相机; （140）距离测量传感器; （150）中央过程控制单元
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