명현 교수

The displacement measurement in structural health monitoring (SHM), though important, was not popular due to inaccessibility of the civil infrastructures and high installation cost. The currently popular approaches use accelerometer, strain gauge, PZT, GPS, etc., most of which indirectly measure the displacement and require high cost to install and maintain. Thus the development of SHM system that directly measures the displacement of the structure using low-cost sensors is urgently needed. In t

With the increasing demand for autonomous systems in the field of inspection, the use of unmanned aerial vehicles (UAVs) to replace human labor is becoming more frequent. However, the Global Positioning System (GPS) signal is usually denied in environments near or under bridges, which makes the manual operation of a UAV difficult and unreliable in these areas. This paper addresses a novel hierarchical graph-based simultaneous localization and mapping (SLAM) method for fully autonomous bridge ins

Recent advances in 3D depth sensors have created many opportunities for security, surveillance, and entertainment. The 3D depth sensors provide more powerful monitoring systems for dangerous situations irrespective of lighting conditions in buildings or production facilities. To robustly recognize emergency actions or hazardous situations of workers at a production facility, we present human joint estimation and behavior recognition algorithms that solely use depth information in this paper. To

The demands for infrastructure inspection using autonomous robots have noticeably increased, and the market is expected to grow accordingly. One of the advantages is that autonomous robots can navigate the environment and interact with humans because an inspection of a high-rise building, for instance, is considered an extremely challenging task for a human. Inspection robot systems can be classified as ground, aerial, underwater robots, or types of sensors used for inspection, such as visual or

In this study, we propose a solution to the simultaneous localization and mapping (SLAM) problem in low dynamic environments by using a pose graph and an RGB-D (red-green-blue depth) sensor. The low dynamic environments refer to situations in which the positions of objects change over long intervals. Therefore, in the low dynamic environments, robots have difficulty recognizing the repositioning of objects unlike in highly dynamic environments in which relatively fast-moving objects can be detec

In this paper, we present human pose estimation and gesture recognition algorithms that use only depth information. The proposed methods are designed to be operated with only a CPU (central processing unit), so that the algorithm can be operated on a low-cost platform, such as an embedded board. The human pose estimation method is based on an SVM (support vector machine) and superpixels without prior knowledge of a human body model. In the gesture recognition method, gestures are recognized from

Global registration is a fundamental task that estimates the relative pose between two viewpoints of 3D point clouds. However, there are two issues that degrade the performance of global registration in LiDAR SLAM: one is the sparsity issue and the other is degeneracy. The sparsity issue is caused by the sparse characteristics of the 3D point cloud measurements in a mechanically spinning LiDAR sensor. The degeneracy issue sometimes occurs because the outlier-rejection methods reject too many cor

Mosquito control is important as mosquitoes are extremely harmful pests that spread various infectious diseases. In this research, we present the preliminary results of an automated system that detects the presence of mosquitoes via image processing using multiple deep learning networks. The Fully Convolutional Network (FCN) and neural network-based regression demonstrated an accuracy of 84%. Meanwhile, the single image classifier demonstrated an accuracy of only 52%. The overall processing time