Agency for Defense Development

Tok Son Choe

Yong Woon Park

Jeong Sook Chae

Won Seok Lee

Jun Han Kim

Seong Yong Ahn

Young Il Lee

Disclosed are a calibration device, a calibration system and a calibration method. The calibration device includes a camera configured to capture image information, a laser sensor configured to capture image information, a laser sensor configured to detect distance information, and a calibration module configured to perform a calibration of the camera and the laser sensor by obtaining a relation between the image information and the distance information, wherein the calibration module includes a plane member disposed to intersect a scanning surface of the laser sensor such that an intersection line is generated, and disposed within a capturing range by the camera so as to be captured by the camera, and a controller configured to perform coordinate conversions with respect to the image information and the distance information based on a ratio between one side of the plane member and the intersection line, and based on a plane member image included in the image information. Under these configurations, a calibration is performed through direct coordinate conversions with respect to image information and distance information.

Device, system and method for calibration of camera and laser sensor

An apparatus for providing obstacle information in an autonomous mobile vehicle and a method thereof, in which a target object is determined to be what obstacle by combining pieces of information received from a laser distance sensor and radars, thereby enabling the autonomous driving of a vehicle. The apparatus and method for providing obstacle information in an autonomous mobile vehicle, which is capable of providing robust obstacle information not only in environments normal times, but also dust environments by combining a laser distance sensor and radars. A problem that an obstacle through which a mobile unit can pass, such as dust, is mistaken for an obstacle through which the mobile unit cannot pass can be solved.

Apparatus and method for providing obstacle information in autonomous mobile vehicle

Disclosed are a steering control device of an autonomous vehicle, an autonomous vehicle having the same, and a steering control method of an autonomous vehicle. The steering control method comprises receiving a position of an autonomous vehicle, and a first heading angle of the autonomous vehicle with respect to the north; calculating a second heading angle of the autonomous vehicle toward a tracking waypoint based on the position of the autonomous vehicle, and computing a rotation radius of the autonomous vehicle with respect to the tracking waypoint; calculating a yaw rate based on a speed of the autonomous vehicle and the computed rotation radius, and generating a steering command corresponding to the calculated yaw rate; and compensating for the steering command based on the first and second heading angles.

Steering control device of autonomous vehicle, autonomous vehicle having the same and steering control method of autonomous vehicle

Disclosed is apparatus for distinguishing between ground and an obstacle for autonomous mobile vehicle, comprising an upper 2D laser radar, a lower 2D laser radar, and a processing unit, the processing unitcomprising a distance data receiving part, an inclination calculating part, a ground and obstacle determining part, and a transmitting part. Also disclosed is a method for distinguishing between ground and an obstacle for autonomous mobile vehicle by using the apparatus for distinguishing between ground and an obstacle for autonomous mobile vehicle of claim, in which the detected object is determined as an obstacle when the actual inclination (g) of the detected object is larger than the reference inclination, and as ground when the actual inclination (g) of the detected object is smaller than the reference inclination.

Growing community of inventors

Daejeon, South Korea

Tok Son Choe