๐Ÿ”’ HAECHI ์ž์œจ์ฃผํ–‰ ๊ฒฝ๋น„๋กœ๋ด‡

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Project Vision

 

๋ฌธํ™”์žฌ ํ›ผ์† ๋ฐฉ์ง€๋ฅผ ์œ„ํ•ด ์„ผ์„œ ๊ธฐ๋ฐ˜์˜ ์ž์œจ์ฃผํ–‰, ํ†ตํ•ฉ ๋ชจ๋‹ˆํ„ฐ๋ง, ์•Œ๋žŒ์‹œ์Šคํ…œ ๋“ฑ์˜ ๊ธฐ๋Šฅ์„ ํƒ‘์žฌํ•œ ์ž์œจ์ฃผํ–‰ ๊ฒฝ๋น„๋กœ๋ด‡ ๊ตฌํ˜„ 

 

 


 

System

 

Arduino, Raspberry Pi, Yolo, Python, Deep learning, ROS2

 

 


 

Project Detail

 

1. SLAM: ๋ชจ๋ฐ”์ผ ๋กœ๋ด‡ ์œ„์น˜์™€ ์ง€๋„๋ฅผ ๋™์‹œ์— ์ถ”์ฒญ
2. Visual SlAM: ์นด๋ฉ”๋ผ๋ฅผ ์ด์šฉํ•˜์—ฌ ์ฃผ๋ณ€ ํ™˜๊ฒฝ์„ ์ธ์‹ํ•˜๊ณ  ์ง€๋„๋ฅผ ์ž‘์„ฑ
3. 2D Projection: ๊ตฌ์ถ•ํ•œ ์ง€๋„๋ฅผ ๋ฐ”ํƒ•์œผ๋กœ path planning์„ ํ•˜๊ธฐ ์œ„ํ•ด 2D Occupancy Grid Map ์ œ์ž‘
4. ROS2: topic์œผ๋กœ ๋ฐœํ–‰ํ•˜๋Š” ์˜์ƒ ๋‚ด์— YOLOv8 ์ปดํ“จํ„ฐ ๋น„์ „ ์•Œ๊ณ ๋ฆฌ์ฆ˜์„ ๋„์ž…ํ•จ์œผ๋กœ์จ ์‚ฌ๋žŒ์„ ๋Œ€์ƒ์œผ๋กœ Object Detection ์ˆ˜ํ–‰

 

 


 

Who

 

๋น„๊ณต๊ฐœ
 
 


 

When

 

2024.06.24 - 2024.12.17

 


 

Video