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1.发明授权公开(公告)号：US10921816B2
公开(公告)日：2021-02-16
申请号：US15852094
申请日：2017-12-22
Inventor： Hyeon Myeong , Hyungjin Kim , Kwang Yik Jung , Seungwon Song
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.
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2.发明申请公开(公告)号：US20180307232A1
公开(公告)日：2018-10-25
申请号：US15852094
申请日：2017-12-22
Inventor： Hyeon Myeong , Hyungjin Kim , Kwang Yik Jung , Seungwon Song
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.
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公开(公告)号：US12080071B2
公开(公告)日：2024-09-03
申请号：US17266520
申请日：2019-11-15
Inventor： Hyeon Myeong , Hyungjin Kim , Seungwon Song
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.
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Patent Agency Ranking
公开(公告)号：US20250036138A1
公开(公告)日：2025-01-30
申请号：US18783703
申请日：2024-07-25
Inventor： Hyun Myung , Seungwon Song , I Made Aswin Nahrendra , Junho Choi , Duckyu Choi , Seunghyun Lee , Eungchang Lee
IPC: G05D1/622 , B64U30/299 , B64U101/30 , G05D1/242 , G05D1/243 , G05D1/245 , G05D1/246 , G05D105/80 , G05D109/25 , G06T7/70 , G06V20/17
Abstract: Provided is an autonomous flight system of a drone unit including an information acquisition unit configured to acquire first information through a camera mounted to the drone unit, acquire second information through LiDAR, and acquire third information through an inertial measurement unit (IMU); an information processing unit configured to estimate a pose of the drone unit through the second information and the third information, acquire a coordinate value of a target object through the first information and the second information, and construct a 3D map and an unknown area exploration algorithm based on a pose estimation value of the drone unit, the coordinate value of the target object, and the second information; a path planner configured to generate an obstacle avoidance path based on the 3D map and the unknown area exploration algorithm; and a flight controller configured to apply the obstacle avoidance path to the drone unit.
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公开(公告)号：US12001218B2
公开(公告)日：2024-06-04
申请号：US17055415
申请日：2019-06-21
Inventor： Soonhyuk Hong , Hyeon Myeong , Hyongjin Kim , Seungwon Song , Jieum Hyun
IPC: B25J9/16 , G05D1/00 , G06F16/901 , G06V10/80 , G06V20/10
CPC classification number: G05D1/0246 , B25J9/162 , G06F16/9024 , G06V10/803 , G06V20/10
Abstract: Provided are a mobile robot device and a control method thereof. The mobile robot device comprises: a driving unit; an image sensor; a plurality of geomagnetic sensors; a memory for storing at least one instruction; and a processor for executing at least one instruction, wherein the processor may obtain, while the mobile robot device moves by means of the driving unit, a plurality of image data through the image sensor and obtain sensing data through the plurality of geomagnetic sensors, extract a feature point from the plurality of image data and obtain key nodes on the basis of the feature point, obtain a node sequence on the basis of the sensing data, generate a graph structure that estimates a position of the mobile robot device on the basis of the key nodes and the node sequence, and correct the graph structure based on the mobile failing in position recognition.
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公开(公告)号：US20210303908A1
公开(公告)日：2021-09-30
申请号：US17266520
申请日：2019-11-15
Inventor： Hyeon Myeong , Hyungjin Kim , Seungwon Song
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.
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公开(公告)号：US10997744B2
公开(公告)日：2021-05-04
申请号：US16374106
申请日：2019-04-03
Inventor： Hyeon Myeong , Kwang Yik Jung , Pillip Youn , Yeeun Kim , HyunJun Lim , Seungwon Song
Abstract: The present invention relates to localization method and system for providing augmented reality in mobile devices and includes sub-sampling image data acquired from a camera in the mobile devices, and extracting image patch including line and point in low-resolution image data, matching feature pairs of point features between the image patch and previous image patch according to movement of the camera, and producing line of subpixel for the image patch, and estimating a location of the camera in the mobile devices based on difference between the produced line and estimated line by inertia.
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公开(公告)号：US20190304128A1
公开(公告)日：2019-10-03
申请号：US16374106
申请日：2019-04-03
Inventor： Hyeon Myeong , Kwang Yik Jung , Pillip Youn , Yeeun Kim , HyunJun Lim , Seungwon Song
Abstract: The present invention relates to localization method and system for providing augmented reality in mobile devices and includes sub-sampling image data acquired from a camera in the mobile devices, and extracting image patch including line and point in low-resolution image data, matching feature pairs of point features between the image patch and previous image patch according to movement of the camera, and producing line of subpixel for the image patch, and estimating a location of the camera in the mobile devices based on difference between the produced line and estimated line by inertia.
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