ISRI > Team > Space Robotics

  

Space Robotics

Team Leader: Jaewoong Kim
Contact: Jaewoong Kim (create@skku.edu)


Mailing address:
Intelligent System Research Institute (ISRI)
Research Complex 2, 6th floor, Building C, Natural Sciences Campus, Sungkyunkwan University,
2066, Seobu-ro, Jangan-gu, Suwon-si,
Gyeonggi-do 440-746, South Korea
 
Team Description
 
[2nd Phase Vision Based 6D SLAM]
► To upgrade performance under ill-conditioned imaging environment
► To minimize accumulated pose error to 3% by fusing visual odometry with sun sensor/star tracker integrated data
► To implement closed loop bundle adjustment

[High Accuracy Global Localization]
► To obtain error of 30m by registering accumulated 3D point cloud(PC) with DEM
► To acquire accumulated 3D PC for remote area by structure from motion

[Real-Time 3D VR/AR Simulation Tool]
► To accumulate stereo based 3D PC and DEM data along the path for 3D environment modeling
► To identify obstacle/hazard and driveable area based on accumulated 3D PC
► To integrate 6D SLAM, global localization, 3D environment modeling into a real-time VR/AR simulation tool
► To establish a high performance computing environment

[Sun Sensor/Star Tracker Integrated Sensor Module]
► To develop a small, light and cost-effective integrated sensor module using cameras: 35*35*20mm
► To test less than 0.1/0.05 degree of error performance for sun sensor/star tracker

[Performance Verification]
► To test the performance based on Devon Island and Apollo Dataset
► To carry out earth-bound test with a KIST Hazbot
 
Personnel
 
 NameTitleEmail Address
 Nguyen Huu HungPhD Candidatehunghvktqs2003@gmail.com
 CAO RUIMaster Student
 ̵Master Studenthssjl@naver.com
 
Current Projects
 
Space Robotics
Developing a high precision vision based 6D SLAM technologies for long range rover localization
Lunar Rover
Creating a 3-D Map of the Surrounding Area and Recognizing Obstacles for Korean-type Lunar Exploration Rovers
 
Recent publications
 


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300 Cheoncheon-dong, jangan-gu, Suwon, Gyeonggi-do, 440-746, Korea

TEL : +82-31-299-6471 / FAX : +82-31-299-6479 / E-mail : navvis@skku.edu