지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 970 - 976 (7page)
이용수
초록· 키워드
오류제보하기
In this paper, a single LRF has been used to produce a 3D map for the mobile robot navigation. The 2D laser scanners are used for mobile robots navigation, where the laser scanner is applied to detect a certain level of area by the straight beam. Therefore it is limited to the usages of 2D obstacle detection and avoidance. In this research, it is designed to complement a mobile robot system to move up and down a single LRF along the yaw axis. During the up and down motion, the 2D data are stacked and manipulated to build a 3D map. Often a single LRF data are mixed with Gaussian and impulse noises. The impulse noises are removed out by the hybrid median filter designed in this research. The 2D data which are improved by deleting the impulse noises are layered to build the 3D map. Removing impulse noises while preserving the boundary is a main advantages of the hybrid median filter which has been used widely to improve the quality of images. The effectiveness of this hybrid median filter for rejecting the impulse noises has been verified through the real experiments. The performance of the hybrid median filter is evaluated in terms of PSNR (Peak Signal to Noise Ratio) and the processing time.
목차
Abstract
I. 서론
II. 시스템 구성 및 지도 작성
III. 적용된 하이브리드 미디언 필터
IV. 실험결과
V. 결론
참고문헌
참고문헌 (18)
참고문헌 신청
1. [보고서] - G. H. Yuk / 2008 / Building a grid-type obstacle shape map using LRF : 473 ~ 474
2. [학술대회논문] - C. Ye / 2003 / A new terrain mapping method for mobile robots obstacle negotiation / Proceedings of UGV Techonology Conference, SPIE AeroSense Symposium : 52 ~ 62
5. [학술대회논문] - T. Fujita / 2009 / 3D terrain measurement system with movable laser range finder / 2009 IEEE International workshop on (SSRR) (2) : 1 ~ 6
6. [학술지(정기간행물)] - T. Kot / 2009 / Application of a 3d representation of 2D laser scanner data in operator controlled mobile robots / Transactions of the VSB LV (1) : 145 ~ 152
7. [학술대회논문] - H.-W. Kim / / Angle sensing based on Kalman filter for 3D map building / The 6th Korea Robotics Society Annual Conference : 29 ~ 32
2. [학술대회논문] - C. Ye / 2003 / A new terrain mapping method for mobile robots obstacle negotiation / Proceedings of UGV Techonology Conference, SPIE AeroSense Symposium : 52 ~ 62
5. [학술대회논문] - T. Fujita / 2009 / 3D terrain measurement system with movable laser range finder / 2009 IEEE International workshop on (SSRR) (2) : 1 ~ 6
6. [학술지(정기간행물)] - T. Kot / 2009 / Application of a 3d representation of 2D laser scanner data in operator controlled mobile robots / Transactions of the VSB LV (1) : 145 ~ 152
7. [학술대회논문] - H.-W. Kim / / Angle sensing based on Kalman filter for 3D map building / The 6th Korea Robotics Society Annual Conference : 29 ~ 32
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