Intensity and Ambient Enhanced Lidar-Inertial SLAM for Unstructured Construction Environment

Minwoo Jung, Sangwoo Jung, Hyesu Jang, Ayoung Kim

Construction monitoring is one of the key modules in smart construction. Unlike structured urban environment, construction site mapping is challenging due to th...

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DOI: https://doi.org/10.7746/jkros.2021.16.3.179

Map Error Measuring Mechanism Design and Algorithm Robust to Lidar Sparsity

Sangwoo Jung, Minwoo Jung, Ayoung Kim

In this paper, we introduce the software/hardware system that can reliably calculate the distance from sensor to the model regardless of point cloud density. As...

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DOI: https://doi.org/10.7746/jkros.2021.16.3.189

Conceptual Design of Remote Precise Installation System for Bridge Girders

Sangyoon Lee, Youngsoo Park, Sangwon Lee, Taeil Chung, Jaejoon Song

The robot is an effective means to perform repetitive tasks quickly and accurately. It could be more effective in dangerous environments where human is difficul...

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DOI: https://doi.org/10.7746/jkros.2021.16.3.199

Design of Manipulator End Effectors for Pier Column Construction

Taeil Chung, Sang-Won Lee, Sang-Yoon Lee, Jee-Hwan Ryu

There is a risk of serious injury to workers who work at height in pier construction process. By using auto climbing formwork system that does not need to disma...

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DOI: https://doi.org/10.7746/jkros.2021.16.3.207

Autonomous Navigation System of an Unmanned Aerial Vehicle for Structural Inspection

Sungwook Jung, Duckyu Choi, Seungwon Song, Hyun Myung

Recently, various robots are being used for the purpose of structural inspection or safety diagnosis, and their needs are also rising rapidly. Among the structu...

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DOI: https://doi.org/10.7746/jkros.2021.16.3.216

Development of the Pipe Construction Robot for Rehabilitation Work Process of the Water Pipe Lines

Myeong-Su Jeong, Jaeyoul Lee, Sung-Ho Hong, Minwoo Jang, Dongho Shin, Jehun Hahm, Kap-Ho Seo, Jin-Ho Seo

In this paper describes the research and development of a pipe robot for pipe rehabilitation construction of old water pipes. After the water supply pipe constr...

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DOI: https://doi.org/10.7746/jkros.2021.16.3.223

Tele-Operation System for Excavator using LTE Communication

Seung Chol Lee, Byoung Hun Kang

In this research, a real-time tele-operation system for unmanned excavator using the LTE communication system is suggested. The distance between the operator an...

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DOI: https://doi.org/10.7746/jkros.2021.16.3.232

Image Mosaicking Considering Pairwise Registrability in Structure Inspection with Underwater Robots

Seonghun Hong

Image mosaicking is a common and useful technique to visualize a global map by stitching a large number of local images obtained from visual surveys in underwat...

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DOI: https://doi.org/10.7746/jkros.2021.16.3.238

Development of Drone Racing Simulator using SLAM Technology and Reconstruction of Simulated Environments

Yonghee Park, Seunghyun Yu, Jaegwang Lee, Jonghyeon Jeong, Junhyeong Jo, Soyeon Kim, Hyejun Oh, Hyungpil Moon

In this paper, we present novel simulation contents for drone racing and autonomous flight of drone. With Depth camera and SLAM, we conducted mapping 3 dimensio...

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DOI: https://doi.org/10.7746/jkros.2021.16.3.245

A Comparative Analysis of Path Planning and Tracking Performance According to the Consideration of Vehicle’s Constraints in Automated Parking Situations

Minsoo Kim, Joonwoo Ahn, Minsung Kim, Minyong Shin, Jaeheung Park

Path planning is one of the important technologies for automated parking. It requires to plan a collision-free path considering the vehicle’s kinematic constrai...

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DOI: https://doi.org/10.7746/jkros.2021.16.3.250