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1. 发明授权

KR101365291B1 오브젝트의 위치 추정 방법 및 장치 有权
标题翻译：用于估计对象位置的方法和装置
公开(公告)号：KR101365291B1
公开(公告)日：2014-02-19
申请号：KR1020120137680
申请日：2012-11-30
申请人： 충남대학교산학협력단
发明人： 이지홍 , 박경민 , 김희중
IPC分类号： G01S5/02
摘要： The present invention relates to a method for estimating a location of an object, including the processes of: acquiring an image from a photographing part photographing an image reflected from a nonplanar mirror reflecting an image from the forward direction; identifying a pattern of a specific land mark from a pattern of at least two adjacent land marks in the acquired image; acquiring first positioning information by estimating an absolute location coordinate value of a currently located object through angle of arrival (AoA) method using angle information per land mark which is an angle of arrival formed with the identified land mark around the photographing part; acquiring second positioning information by estimating an absolute location coordinate value of the currently located object through time of arrival (ToA) method using time information per radio wave transmitting device which is an arrival time of a signal transmitted to the radio wave receiving device of the object from a plurality of radio wave transmitting devices dispersed at a previously set position in a network where the object is located; and calculating final positioning information of the object by filtering the first positioning information and the second positioning information. [Reference numerals] (110) Obtain image; (112) Identify land mark; (114) Acquire first positioning information; (116) Acquire second positioning information; (118) Re-queue second positioning information per radio wave transmitter gathering to first positioning information; (120) Select radio wave transmitter corresponding priority; (122) Compare with first positioning information coordinate value; (124) Equal to or above pre-set distance?; (126) Acquire/compare dispersion or standard deviation of selected radio wave transmitter; (127) Select excellent dispersion and correct middle value; (128) Delete second positioning information; (130) Correct first positioning information; (132) Calculate final positioning information; (AA) START; (BB) Select excellent dispersion and correct middle value; (CC) NO; (DD) YES; (EE) END
摘要翻译：本发明涉及一种用于估计对象位置的方法，包括以下处理：从拍摄从反方向反射图像的非平面镜反射的图像的摄影部分获取图像; 从所获取的图像中的至少两个相邻地面标记的图案识别特定地面标记的图案; 通过使用作为与拍摄部分周围的识别的地面标记形成的到达角的每个地面标记的角度信息，通过使用到达角度（AoA）方法估计当前定位的物体的绝对位置坐标值来获取第一定位信息; 通过使用到每个无线电波发送装置的时间信息（ToA）方法来估计当前所在对象的绝对位置坐标值（ToA）方法来获取第二定位信息，该无线电波发送装置是发送到对象的无线电波接收装置的信号的到达时间从分散在物体所位于的网络中的先前设定位置的多个无线电波发送装置，以及通过过滤所述第一定位信息和所述第二定位信息来计算所述对象的最终定位信息。（附图标记）（110）获得图像; （112）确定地标; （114）获取第一定位信息; （116）获取第二定位信息; （118）将每个无线电波发射机收集的第二定位信息重新排队到第一定位信息; （120）选择无线电波发射机对应的优先级; （122）与第一定位信息坐标值进行比较; （124）等于或大于预设距离？（126）获取/比较所选无线电波发射机的色散或标准偏差; （127）选择优异的分散性和正确的中间值; （128）删除第二定位信息; （130）正确定位信息; （132）计算最终定位信息; （AA）开始; （BB）选择优异的分散性和正确的中间值; （CC）NO; （DD）是; （EE）END

2. 发明授权

KR101316524B1 전방향 비전 센서를 이용한 오브젝트의 위치 추정 방법 및 장치 有权
标题翻译：使用OMNIDIRECECT VISION SENSOR在物体中估算位置的方法和装置
公开(公告)号：KR101316524B1
公开(公告)日：2013-10-08
申请号：KR1020130000613
申请日：2013-01-03
申请人： 충남대학교산학협력단
发明人： 이지홍 , 김희중 , 박경민
IPC分类号： G01S17/06 , G01S17/02
摘要： PURPOSE: A method and a device of estimating the location of an object with an omnidirectional vision sensor reduce costs and stably recognize a location by using all objects with color as a land mark. CONSTITUTION: A device of estimating the location of an object with an omnidirectional vision sensor includes a non-planar mirror (512), a subsidiary non-planar mirror (514), a photographing part (516), and a control part (518). The non-planar mirror reflects an omnidirectional image. The subsidiary non-planar mirror is placed on a straight-line distance of the non-planar mirror. The photographing part photographs the image reflected from the non-planar mirror or the subsidiary non-planar mirror. The control part identifies specific land marks in each of the images obtained from the photographing part by mirror through an identification part and estimates an absolute location coordinate value of the current location of the object with an angle of arrival (AoA) method by controlling a first positioning operation part. The control part obtains first positioning information and computes the final positioning information of the object using the first positioning information or predetermined distance information between the non-planar mirrors or the subsidiary non-planar mirrors based on a specific pattern formed by the non-planar mirror or the subsidiary non-planar mirror around the land mark. [Reference numerals] (512) Non-planar mirror; (514) Subsidiary non-planar mirror; (516) Photographing part; (518) Control part; (AA) Pairing part; (BB) Identification part; (CC) First flank calculation part; (DD) Final flank part
摘要翻译：目的：使用全向视觉传感器估计物体的位置的方法和装置通过使用具有颜色的所有物体作为地面标记来降低成本并稳定地识别位置。构成：使用全向视觉传感器估计物体的位置的装置包括非平面镜（512），辅助非平面镜（514），拍摄部分（516）和控制部分（518）。非平面镜反射全向图像。辅助非平面镜被放置在非平面镜的直线距离上。拍摄部分拍摄从非平面镜或辅助非平面镜反射的图像。控制部分通过识别部分通过反射镜识别从拍摄部分获得的每个图像中的特定地面标记，并通过控制第一（A）方法来估计物体的当前位置的绝对位置坐标值（AoA）定位操作部分。控制部分基于由非平面镜形成的特定图案，使用第一定位信息或非平面镜或副非平面镜之间的预定距离信息来获得第一定位信息并计算对象的最终定位信息或地标附近的非平面镜。（附图标记）（512）非平面镜; （514）辅助非平面镜; （516）摄影部分; （518）控制部分; （AA）配对部分; （BB）识别部分; （CC）第一侧面计算部分; （DD）最终侧面部分

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