선택한 단어 수는 입니다.
최소 단어 이상 선택하여야 합니다.
최소 단어 이상 선택하여야 합니다.
선택한 단어 수는 30입니다.
최대 10 단어까지만 선택 가능합니다.
최대 10 단어까지만 선택 가능합니다.
제안 방법
- Then, it can move to a position that can purify polluted air. Accordingly, this paper aims to propose a self-localization algorithm suitable for the mobile air cleaner suggested in the precedent research[2] and implement it.
- The mobile air cleaner was proposed to purify polluted air faster than the existing fixed air cleaner, and this mobile air cleaner should accurately move to a position that can remove polluted air fast and thus needs self-localization. Accordingly, this paper proposed a self-localization algorithm suitable for a mobile air cleaner and implemented it.
- However, this paper aims to detect a marker even in an image with low resolution by making a marker with simple form that can be recognized easily, obtains ID of a marker difficult to indicate with a simple marker and the distance between markers in an air cleaner by using one ultrasonic sensor. Additionally, thesis aims to enhance accuracy and reduce calculation necessarily for image processing at the same time by simplifying the self-localization algorithm and reducing potential errors of the algorithm.
- However, this paper aims to detect a marker even in an image with low resolution by making a marker with simple form that can be recognized easily, obtains ID of a marker difficult to indicate with a simple marker and the distance between markers in an air cleaner by using one ultrasonic sensor. Additionally, thesis aims to enhance accuracy and reduce calculation necessarily for image processing at the same time by simplifying the self-localization algorithm and reducing potential errors of the algorithm.
- However, this paper aims to solve a problem of inaccuracy easily that the self-localization technology using only the existing ultrasonic sensor and a problem that much calculation amount is generated and it is difficult to operate at a dark place by uniting these two technologies by using only image processing. Namely, the inaccuracy of a method using an ultrasonic sensor is compensated with a simple form of marker and image processing technique using an image with low resolution, so it was made to have high accuracy with comparatively less computation.
- In order to solve this problem, this paper proposes a self-localization algorithm with an ultrasonic sensor and a camera image. The biggest limitation of a self-localization method using a camera image is to need an image with high resolution for recognition of an accurate position and to demand computations that a processor mounted on a mobile air cleaner are difficult to handle.
- In this paper, the self-localization was carried out by attaching a color marker capable of recognizing through a camera and a ultrasonic sensor(beacon) to the ceiling and installing a listener and a camera to a computer corresponding with a mobile air cleaner. The proposed algorithm was experimented in a Pentium PC by using an ultrasonic sensor of Hybus Co.
- The proposed algorithm was experimented in a Pentium PC by using an ultrasonic sensor of Hybus Co. and Webcam of Logitec Co., and the experiment’s equipments were placed at a position that is separated by 30cm, 50cm and 1m from a position of a marker and an ultrasonic sensor in the experiment and its error was measured.
- The proposed method solved a difficult problem, which results from what only an ultrasonic sensor or vision technology was used, by using mutual complementing elements of two technologies and uniting it. It is expected that as the complicated calculation or filtering is not necessary due to this method, it could be utilized for a mobile air cleaner with low hardware specification.
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