公开(公告)号：US20180307232A1

公开(公告)日：2018-10-25

申请号：US15852094

申请日：2017-12-22

Applicant: Korea Advanced Institute of Science and Technology

Inventor： Hyeon Myeong ,  Hyungjin Kim ,  Kwang Yik Jung ,  Seungwon Song

IPC: G05D1/02 ,  G01S17/93 ,  B25J9/16 ,  G01S17/02 ,  B25J19/02

CPC classification number: G05D1/024 ,  B25J9/1676 ,  B25J9/1684 ,  B25J9/1697 ,  B25J19/022 ,  G01S17/026 ,  G01S17/936

Abstract: An apparatus and method for producing a map based on a hierarchical structure to produce a 3D high-precision map based on the hierarchical structure using a low-priced 2D laser scanner is provided. The apparatus and method produces the 3D high-precision map based on the hierarchical structure using the low-priced 2D laser scanner.

公开(公告)号：US20210303908A1

公开(公告)日：2021-09-30

申请号：US17266520

申请日：2019-11-15

Applicant: KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Hyeon Myeong ,  Hyungjin Kim ,  Seungwon Song

IPC: G06K9/62 ,  G06K9/00

Abstract: Robust laser scanner matching method and device considering a movement of a ground robot are disclosed. A scan matching method according to an embodiment of the inventive concept includes receiving two point clouds, sequentially inspecting height values until a point is within a specific height range to search for correspondence points between the two point clouds, and performing scan matching between the two point clouds based on the search result of the correspondence points.

公开(公告)号：US10921816B2

公开(公告)日：2021-02-16

申请号：US15852094

申请日：2017-12-22

Applicant: Korea Advanced Institute of Science and Technology

Inventor： Hyeon Myeong ,  Hyungjin Kim ,  Kwang Yik Jung ,  Seungwon Song

IPC: G05D1/02 ,  B25J19/02 ,  B25J9/16 ,  G01S17/89 ,  G01S17/86 ,  G01S17/931

Abstract: An apparatus and method for producing a map based on a hierarchical structure to produce a 3D high-precision map based on the hierarchical structure using a low-priced 2D laser scanner is provided. The apparatus and method produces the 3D high-precision map based on the hierarchical structure using the low-priced 2D laser scanner.

公开(公告)号：US12080071B2

公开(公告)日：2024-09-03

申请号：US17266520

申请日：2019-11-15

Applicant: KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Hyeon Myeong ,  Hyungjin Kim ,  Seungwon Song

IPC: G06V20/56 ,  G01S17/89

CPC classification number: G06V20/56 ,  G01S17/89

Abstract: Robust laser scanner matching method and device considering a movement of a ground robot are disclosed. A scan matching method according to an embodiment of the inventive concept includes receiving two point clouds, sequentially inspecting height values until a point is within a specific height range to search for correspondence points between the two point clouds, and performing scan matching between the two point clouds based on the search result of the correspondence points.