이동로봇의 안전한 엘리베이터 탑승을 위한 RGB-D 센서 기반의 엘리베이터 인식 및 위치추정
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 장민경 | - |
dc.contributor.author | 조현준 | - |
dc.contributor.author | 송재복 | - |
dc.date.accessioned | 2021-08-31T17:15:08Z | - |
dc.date.available | 2021-08-31T17:15:08Z | - |
dc.date.created | 2021-06-17 | - |
dc.date.issued | 2020 | - |
dc.identifier.issn | 1975-6291 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/59605 | - |
dc.description.abstract | Multi-floor navigation of a mobile robot requires a technology that allows the robot to safely get on and off the elevator. Therefore, in this study, we propose a method of recognizing the elevator from the current position of the robot and estimating the location of the elevator locally so that the robot can safely get on the elevator regardless of the accumulated position error during autonomous navigation. The proposed method uses a deep learning-based image classifier to identify the elevator from the image information obtained from the RGB-D sensor and extract the boundary points between the elevator and the surrounding wall from the point cloud. This enables the robot to estimate the reliable position in real time and boarding direction for general elevators. Various experiments exhibit the effectiveness and accuracy of the proposed method. | - |
dc.language | Korean | - |
dc.language.iso | ko | - |
dc.publisher | 한국로봇학회 | - |
dc.title | 이동로봇의 안전한 엘리베이터 탑승을 위한 RGB-D 센서 기반의 엘리베이터 인식 및 위치추정 | - |
dc.title.alternative | Elevator Recognition and Position Estimation based on RGB-D Sensor for Safe Elevator Boarding | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | 송재복 | - |
dc.identifier.doi | 10.7746/jkros.2020.15.1.070 | - |
dc.identifier.bibliographicCitation | 로봇학회 논문지, v.15, no.1, pp.70 - 76 | - |
dc.relation.isPartOf | 로봇학회 논문지 | - |
dc.citation.title | 로봇학회 논문지 | - |
dc.citation.volume | 15 | - |
dc.citation.number | 1 | - |
dc.citation.startPage | 70 | - |
dc.citation.endPage | 76 | - |
dc.type.rims | ART | - |
dc.identifier.kciid | ART002560354 | - |
dc.description.journalClass | 2 | - |
dc.description.journalRegisteredClass | kci | - |
dc.subject.keywordAuthor | Elevator Recognition | - |
dc.subject.keywordAuthor | Elevator Position Estimation | - |
dc.subject.keywordAuthor | Multi-Floor Navigation | - |
dc.subject.keywordAuthor | RGB-D Sensor | - |
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