公开(公告)号：US20150195682A1

公开(公告)日：2015-07-09

申请号：US14207508

申请日：2014-03-12

Applicant: Electronics and Telecommunications Research Institute

Inventor： Yu-Cheol LEE

IPC: H04W4/04

CPC classification number: H04W4/04

Abstract: An apparatus for recognizing an indoor location using an RSSI (Received Signal Strength Intensity) map, includes an environment information acquirer configured to acquire indoor environment information and store the acquired indoor environment information on a node basis; a numerical map creator configured to create a numerical map; a field intensity creator configured to create the RSSI map; a dead-reckoning sensor configured to locate an area less than several meters within which the environment information acquire is actually located to locate a more accurate location within the area; a path information producer configured to produce path information including movable potential trajectories; and an initializer configured to initialize an initialization location of one or more candidate entities and fingerprint information.

Abstract translation: 一种使用RSSI（接收信号强度强度）映射来识别室内位置的装置，包括：环境信息获取器，被配置为获取室内环境信息，并以获取的方式存储所获得的室内环境信息; 配置为创建数字地图的数字地图制作器; 被配置为创建所述RSSI图的场强创建器; 推算传感器被配置为定位小于几米的区域，其中所述环境信息获取的区域实际位于所述区域内以在所述区域内定位更准确的位置; 路径信息生成器，被配置为产生包括可移动电位轨迹的路径信息; 以及初始化器，被配置为初始化一个或多个候选实体的初始化位置和指纹信息。

公开(公告)号：US20130304374A1

公开(公告)日：2013-11-14

申请号：US13711747

申请日：2012-12-12

Applicant: Electronics And Telecommunications Research Institute

Inventor： Yu-Cheol LEE ,  Sung Hoon Kim

IPC: G01C21/26

CPC classification number: G01C21/26 ,  G01C21/165 ,  G01S19/48 ,  G06K9/00785 ,  G06K9/00798 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/20076 ,  G06T2207/30256

Abstract: An apparatus for recognizing a position of a moving object includes a sensor information collector to collect sensor information associated with movement of the moving object, a camera to capture a front image based on the movement of the moving object, and a GPS receiver configured to receive a GPS position of the moving object. Further, the apparatus includes a location recognizer to display N number of particles, each of which indicates a candidate position of the moving object, in a certain region about a GPS location of the moving object on a map. The location recognizer then updates a location of the particles based on the movement of the moving object, and progressively reduces number of particles on the basis of accuracy of the position-updated particles, thereby recognizing the position of the moving object.

Abstract translation: 用于识别移动物体的位置的装置包括：传感器信息收集器，用于收集与移动物体的移动有关的传感器信息;摄像机，用于基于移动物体的移动来捕获前方图像;以及GPS接收器，被配置为接收 移动物体的GPS位置。 此外，该装置包括位置识别器，其在关于地图上的移动物体的GPS位置的特定区域中显示N个粒子，每个粒子指示移动物体的候选位置。 然后，位置识别器基于移动物体的移动来更新粒子的位置，并且基于位置更新粒子的精度逐渐减少粒子的数量，从而识别移动物体的位置。

公开(公告)号：US20210011135A1

公开(公告)日：2021-01-14

申请号：US16918736

申请日：2020-07-01

Applicant: ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE

Inventor： Yu-Cheol LEE ,  Won-Pil YU

IPC: G01S7/481 ,  G01S17/931 ,  G05D1/02

Abstract: Disclosed herein is a method for detecting laser reflectors for mobile robot localization. The method includes collecting scan information data corresponding to positions of surrounding objects using a laser scanner mounted on a mobile robot; generating a reflector cluster based on reflection intensities of the scan information data; classifying the reflector cluster into individual reflector clusters, each of the individual reflector clusters corresponding to each of the laser reflectors; determining whether each of the individual reflector clusters is a valid individual reflector cluster corresponding to an actual individual laser reflector or not based on geometric filtering on die each of the individual reflector clusters; and calculating position of the actual individual laser reflector based on at least one of the scan information data corresponding to the valid individual reflector cluster.

公开(公告)号：US20210405197A1

公开(公告)日：2021-12-30

申请号：US17357509

申请日：2021-06-24

Applicant: ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE

Inventor： Yu-Cheol LEE

IPC: G01S17/89 ,  G01S17/93 ,  G01S17/04 ,  G01S7/48 ,  G01S7/481

Abstract: Disclosed herein are an apparatus and method for global localization for a dynamic environment using a 3D LiDAR scanner. The method may include generating a 2D grid map from 3D point cloud data acquired using the 3D LiDAR scanner, searching for the 2D global position of a vehicle on the 2D grid map using data acquired from the 3D LiDAR scanner, and mapping the 2D global position to a 6-DOF position in the 3D space.

公开(公告)号：US20190310653A1

公开(公告)日：2019-10-10

申请号：US16374033

申请日：2019-04-03

Applicant: Electronics and Telecommunications Research Institute

Inventor： Yu-Cheol LEE ,  Won-Pil YU ,  Song LI

IPC: G05D1/02 ,  G06T17/05

Abstract: Disclosed herein are an apparatus and method for generating a topological map for navigation of a robot. The method for generating a topological map for navigation of a robot, performed by the apparatus for building the topological map for the navigation of the robot, includes calculating the physical size of a single pixel on a metric map of a space in which a mobile robot is to navigate, extracting the physical coordinates of the pixel on the metric map, building node data and edge data for the navigation of the mobile robot using the physical coordinates, and generating a topological map for the navigation of the mobile robot based on the built node data and the built edge data.

公开(公告)号：US20140122031A1

公开(公告)日：2014-05-01

申请号：US14059943

申请日：2013-10-22

Applicant: Electronics and Telecommunications Research Institute

Inventor： Yu-Cheol LEE

IPC: G06F17/50

CPC classification number: G01C21/206

Abstract: An apparatus for providing information on an indoor infrastructure includes a search request receiving unit configured to receive a search request for a specific indoor space from any terminal. Further, the apparatus includes an information providing unit configured to transmit a map and spatial information corresponding to the specific indoor space to the terminal for the display thereof. Furthermore, the apparatus includes a node information providing unit configured to, when a specific node is selected in the displayed map and spatial information, search a video image, POI information or location information corresponding to the specific node and provide the searched result to the terminal.

Abstract translation: 一种用于在室内基础设施上提供信息的设备包括：搜索请求接收单元，被配置为从任何终端接收特定室内空间的搜索请求。 此外，该装置包括：信息提供单元，被配置为向终端发送对应于特定室内空间的地图和空间信息以进行显示。 此外，该装置包括：节点信息提供单元，被配置为当在显示的地图中选择特定节点和空间信息时，搜索与特定节点对应的视频图像，POI信息或位置信息，并将搜索结果提供给终端 。