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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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公开(公告)号：US20170048816A1
公开(公告)日：2017-02-16
申请号：US15153181
申请日：2016-05-12
Inventor： Hyeon Myeong , Taekjun Oh , Hyongjin Kim , Kwang-yik Jung
CPC classification number: H04L67/18 , G06T7/75 , G06T2200/04 , G06T2207/10028 , G06T2207/20072
Abstract: A method and apparatus for robust localization in outdoor environments is provided. The localization method includes the steps of receiving scanner data from localization means and receiving angle information of a mobile device from an angle sensor, correcting the scanner data based on the received angle information, performing an Iterative Closest Point (ICP) mechanism for the corrected scanner data and generating a first constraint, and localizing the mobile device based on a graph structure under the first constraint.
Abstract translation: 提供了一种在户外环境中稳健定位的方法和装置。 定位方法包括以下步骤：从定位装置接收扫描器数据并从角度传感器接收移动装置的角度信息，基于接收到的角度信息校正扫描器数据，对经校正的扫描器执行迭代最近点（ICP）机制 数据并产生第一约束，以及基于第一约束下的图形结构来定位移动设备。
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公开(公告)号：US09164509B2
公开(公告)日：2015-10-20
申请号：US14190761
申请日：2014-02-26
Inventor： In Joo Kim , Seung Mok Lee , Shin Kim , Hyeon Myeong , Byeol Teo Park , Ji Eun Park , Jong Dae Jung
IPC: G05D1/02
CPC classification number: G05D1/021 , G05D1/0272
Abstract: A method of localization and mapping of a mobile robot may reduce position errors in localization and mapping using a plurality of vector field sensors. The method includes acquiring a relative coordinate in a movement space using an encoder, acquiring an absolute coordinate in the movement space by detecting intensity and direction of a signal using vector field sensors, defining a plurality of virtual cells on a surface of the movement space such that each of the cells has a plurality of nodes having predetermined positions, and updating position information about the nodes of the cells based on the relative coordinate acquired through the encoder and the absolute coordinate acquired through the vector field sensors and implementing localization and mapping in the movement space in a manner that position information of a new node is estimated while position information of a previous node is determined.
Abstract translation: 移动机器人的定位和映射的方法可以减少使用多个矢量场传感器的定位和映射中的位置误差。 该方法包括使用编码器获取移动空间中的相对坐标，通过使用矢量场传感器检测信号的强度和方向来获取移动空间中的绝对坐标，在移动空间的表面上定义多个虚拟单元， 每个小区具有多个具有预定位置的节点，并且基于通过编码器获取的相对坐标和通过矢量场传感器获取的绝对坐标来更新关于小区的节点的位置信息，并且在 在确定了前一节点的位置信息的同时估计新节点的位置信息的方式的移动空间。
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公开(公告)号：US20140244094A1
公开(公告)日：2014-08-28
申请号：US14190761
申请日：2014-02-26
Inventor： In Joo KIM , Seung Mok Lee , Shin Kim , Hyeon Myeong , Byeol Teo Park , Ji Eun Park , Jong Dae Jung
IPC: G05D1/02
CPC classification number: G05D1/021 , G05D1/0272
Abstract: A method of localization and mapping of a mobile robot may reduce position errors in localization and mapping using a plurality of vector field sensors. The method includes acquiring a relative coordinate in a movement space using an encoder, acquiring an absolute coordinate in the movement space by detecting intensity and direction of a signal using vector field sensors, defining a plurality of virtual cells on a surface of the movement space such that each of the cells has a plurality of nodes having predetermined positions, and updating position information about the nodes of the cells based on the relative coordinate acquired through the encoder and the absolute coordinate acquired through the vector field sensors and implementing localization and mapping in the movement space in a manner that position information of a new node is estimated while position information of a previous node is determined.
Abstract translation: 移动机器人的定位和映射的方法可以减少使用多个矢量场传感器的定位和映射中的位置误差。 该方法包括使用编码器获取移动空间中的相对坐标，通过使用矢量场传感器检测信号的强度和方向来获取移动空间中的绝对坐标，在移动空间的表面上定义多个虚拟单元， 每个小区具有多个具有预定位置的节点，并且基于通过编码器获取的相对坐标和通过矢量场传感器获取的绝对坐标来更新关于小区的节点的位置信息，并且在 在确定了前一节点的位置信息的同时估计新节点的位置信息的方式的移动空间。
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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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Patent Agency Ranking
公开(公告)号：US20210323619A1
公开(公告)日：2021-10-21
申请号：US17230596
申请日：2021-04-14
Inventor： Hyeon Myeong , Wancheol Myeong
IPC: B62D57/024 , B62D57/028 , G05D1/02
Abstract: A wall-climbing drone using an auxiliary arm and a method for controlling therefore are disclosed. The wall-climbing drone according to an example of embodiments includes at least one front wheel for moving a drone on a wall by being attached on one surface of a body in contact with the wall and controlling rotation by a wall-climbing motor; an auxiliary arm including a link having one degree of freedom connected to a part of the body and changing an angle and an auxiliary wheel attached to an end of the link; a power transmission system for controlling power transmission by connecting a belt between the body and the auxiliary arm and using the belt; and a controlling unit for controlling propulsion force of each of at least one propellant according to an angle between the auxiliary arm and the body in a state attached to the wall, controlling power transmission of the power transmission system, and controlling movement of the drone by controlling rotation of the motor.
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7.发明申请公开(公告)号：US20190180134A1
公开(公告)日：2019-06-13
申请号：US15979142
申请日：2018-05-14
Inventor： Hyeon Myeong , Su Young Choi , Wancheol Myeong
Abstract: A method for estimating 6-DOF relative displacement using vision-based localization and apparatus therefor are disclosed. A method for estimating 6-DOF relative displacement may include acquiring images of a first marker attached to a fixing member and a second marker attached to a dynamic member for assembling to the fixing member by using a camera, extracting a feature point of the first marker and a feature point of the second marker through image processing for the acquired images, and estimating 6-DOF relative displacement of the dynamic member for the fixing member based on the extracted feature point of the first marker and feature point of the second marker.
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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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