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NTIS 바로가기제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, v.20 no.3, 2014년, pp.372 - 379
송재복 (고려대학교 기계공학부) , 황서연 (고려대학교 기계공학부)
This paper surveys past and state-of-the-art SLAM technologies. The standard methods for solving the SLAM problem are the Kalman filter, particle filter, graph, and bundle adjustment-based methods. Kalman filters such as EKF (Extended Kalman Filter) and UKF (Unscented Kalman Filter) have provided su...
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핵심어 | 질문 | 논문에서 추출한 답변 |
---|---|---|
거리센서에는 어떤 것들이 있는가? | SLAM에는 거리센서, 비전센서 등 다양한 종류의 센서가 사용된다. 거리센서는 대표적으로 레이저스캐너, 적외선스캐너, 초음파센서, 라이다(LIDAR), 레이더(RADAR) 등이 있으며, 비전센서에는 스테레오카메라, 모노카메라, 전방향카메라, Kinect 등이 포함된다. 거리센서는 쉽게 물체까지의 거리정보를 얻을 수는 있지만, 활용할 수 있는 정보의 종류가 제한적인 단점이 있다. | |
로봇이 위치정보에 기반하여 작업을 수행하기 위해 필요한 것은 무엇인가? | 로봇이 미지의 공간 상에서 주행을 시작하는 경우 주변환경에 대한 아무런 정보가 없다. 따라서 로봇이 위치정보에 기반하여 작업을 수행하기 위해서는 센서정보를 이용하여 환경에 대한 지도를 작성하고, 동시에 작성된 지도로부터 로봇의 현재 위치를 추정하는 SLAM (Simultaneous Localization And Mapping) 과정이 필요하다. 최근 성공적으로 상용화된 위치인식 기능이 탑재된 청소로봇의 경우를 예로 들면, 전원을 켰을 때의 위치를 기준점으로 설정하여 장착된 센서(예, 비전센서, 거리센서)로부터 수집한 정보로 지도를 작성하는 동시에, 자신의 위치를 실시간으로 추정하여 청소한 구역과 청소해야 할 구역을 구분한다. | |
특징 초기화의 지연 방식이 주로 사용된 때는 언제인가? | 지연 방식은 필터에 새로운 특징을 등록하기 이전에 필터 외부에서 특징의 위치를 대략적으로 결정하는 방법이다. 이는 모노카메라 기반 SLAM의 초기에 거리를 가늠하기 어려운 특징들이 환경에 존재하는 경우 주로 사용되었다[2,3]. 지연이 없는 방식은 새로운 특징이 관측되면 즉시 필터에 등록시키고, 추가 관측정보로부터 특징의 위치 불확실성을 감소시켜 나간다. |
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