QR 코드와 2D 라이다 센서를 이용한 모바일 로봇의 사람 추종 기법 개발
Development of Human Following Method of Mobile Robot Using QR Code and 2D LiDAR Sensor
1
조회
0
다운로드
4
인용
0
참고문헌
키워드
초록
In this paper, we propose a method to keep the robot at a distance of 30 to 45cm from the user in consideration of each individual's minimum area and inconvenience by using a 2D LiDAR sensor LDS-01 as the secondary sensor along with a QR code. First, the robot determines the brightness of the video and the presence of a QR code. If the light is bright and there is a QR code due to human’s presence, the range of the 2D LiDAR sensor is set based on the position of the QR code in the captured image to find and follow the correct target. On the other hand, when the robot does not recognize the QR code due to the low light, the target is followed using a database that stores obstacles and human actions made before the experiment using only the 2D LiDAR sensor. As a result, our robot can follow the target person in four situations based on nine locations with seven types of motion.
Abstract
In this paper, we propose a method to keep the robot at a distance of 30 to 45cm from the user in consideration of each individual's minimum area and inconvenience by using a 2D LiDAR sensor LDS-01 as the secondary sensor along with a QR code. First, the robot determines the brightness of the video and the presence of a QR code. If the light is bright and there is a QR code due to human’s presence, the range of the 2D LiDAR sensor is set based on the position of the QR code in the captured image to find and follow the correct target. On the other hand, when the robot does not recognize the QR code due to the low light, the target is followed using a database that stores obstacles and human actions made before the experiment using only the 2D LiDAR sensor. As a result, our robot can follow the target person in four situations based on nine locations with seven types of motion.
참고문헌 (13)
- E. T. Hall., "The Hidden Dimension" (1966), Doubleday
- 조재민, "비주얼 서보잉을 위한 딥러닝 기반 물체 인식 및 자세 추정", 로봇학회 논문지, 14(1), pp.1~7 (2019), 한국로봇학회[DOI]
- 오정현, "Deep Convolutional Auto-encoder를 이용한 환경 변화에 강인한 장소 인식", 로봇학회 논문지, 14(1), pp.8~13 (2019), 한국로봇학회[DOI]
- T. Y. Ko, "Real-time Face Recognition and Tracking System Using Deep Learning in Various Environments", Proceedings of the Institute of Electronics and Information Engineers Conference, 643(646), pp.643~646 (2017)
- H. Zhang, "Localization and Navigation Using QR Code for Mobile Robot in Indoor Environment", Proceedings of IEEE International Conference on Robotics and Biomimetics (ROBIO), pp.2501~2506 (2015)
- 이연경, "네 방향 스캔 방법을 이용한 QR코드 파인더 인식", 한국정보통신학회논문지, 16(6), pp.1187~1192 (2012), 한국정보통신학회[DOI]
- 김의선, "ROS를 활용한 서빙 이동로봇의 구현", 한국정보기술학회논문지, 17(2), pp.33~43 (2019), 한국정보기술학회[DOI]
- 유동길, "2D와 3D 레이더를 이용한 정보융합 기법 연구", 제어.로봇.시스템학회 논문지, 18(9), pp.863~870 (2012), 제어·로봇·시스템학회[DOI]
- 김은경, "가우시안 분포 기반 제어 함수와 영상 밝기 정보를 이용한 명도 보정 기법", 한국지능시스템학회 논문지, 27(5), pp.382~387 (2017), 한국지능시스템학회
- Y. Nitta, "A Study on Introducing FPGA to ROS Based Autonomous Driving System", Proceedings of International Conference on Field-Programmable Technology (FPT), pp.421~424 (2018)
- 송명규, "초소형 카메라 흔들림 보정장치의 동특성 개선", 한국소음진동공학회논문집, 21(2), pp.178~185 (2011), 한국소음진동공학회