Young-Sik Shin

Samsung (South Korea)

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Co-Authors

Ayoung Kim

Seoul National University

Younggun Cho

Inha University

Hyeonho Choi

Samsung (South Korea)

Yeongjun Lee

Stanford University

Joonghyuk Kim

Samsung (South Korea)

Hyo Sug Lee

Sungkyunkwan University

Jin-Yong Jeong

Korea Institute of Ocean Science and Technology

Soohwan Sul

Samsung (South Korea)

Young Mo Sung

Samsung (South Korea)

Yeong Sang Park

Electronics and Telecommunications Research Institute

Cooperative Institutions

Samsung (South Korea)

Korea Advanced Institute of Science and Technology

Seoul National University

Government of the Republic of Korea

Kyungpook National University

Sungkyunkwan University

Korea University

Hanyang University

Pohang University of Science and Technology

Korea Institute of Machinery and Materials

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Direct Visual SLAM Using Sparse Depth for Camera-LiDAR System

Young-Sik Shin Yeong Sang Park Ayoung Kim

This paper describes a framework for direct visual simultaneous localization and mapping (SLAM) combining a monocular camera with sparse depth information from Light Detection and Ranging (LiDAR). To ensure realtime performance while maintaining high accuracy in motion estimation, we present (i) a sliding window-based tracking method, (ii) strict pose marginalization for accurate pose-graph SLAM and (iii) depth-integrated frame matching for large-scale mapping. Unlike conventional feature-based visual and LiDAR mapping, the proposed approach is direct, eliminating the visual feature in the objective function. We evaluated results using our portable camera-LiDAR system as well as KITTI odometry benchmark datasets. The experimental results prove that the characteristics of two complementary sensors are very effective in improving real-time performance and accuracy. Via validation, we achieved low drift error of 0.98 % in the KITTI benchmark including various environments such as a highway and residential areas.

Visual Odometry

Benchmark (surveying)

Monocular

Feature (linguistics)

Ranging

10.1109/icra.2018.8461102

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Citations (100)

수중 영상 소나의 번들 조정과 3차원 복원을 위한 운동 추정의 모호성에 관한 연구

Young-Sik Shin Ayoung Kim Hyun Taek Choi

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Analysis of Work Efficiency of Multiple Heterogeneous Robots for Harvesting Crops in the Green House

The Journal of Korean Institute of Communications and Information Sciences (2022)

Tae-Yong Choi Jong-Woo Park Jeong-Jung Kim Young-Sik Shin Doo-hyung Kim

최근 4차혁명 기술을 적용한 스마트팜과 같은 시설원예에 대한 연구가 많이 이루어지고 있다. 그 중 수확로봇과 사람 작업자의 수확물 이송을 위한 이송로봇 등의 로봇 기술이 연구되고 있다. 기존 연구는 대부분 단일 로봇의 기능 구현에 치중되어 있다. 본 연구에서는 시설원예에서 작물 수확를 위해서 복수의 수확로봇 및 이송로봇을 적절히 혼용했을 때, 단일 수확로봇만 사용하는 것보다 작업 효율이 높음을 보인다. 이를 위해서 수확로봇 및 이송로봇의 수확속도 및 이송속도 등을 시설 환경을 고려하여 모델링하고, 이를 기반으로 기존의 수확로봇으로 구성된 로봇 그룹과 수확로봇 및 이송로봇 혼용으로 구성된 그룹의 작업속도를 도출 및 분석한다. 또한 도출된 작업속도를 실제 개발한 수확로봇 및 이송로봇의 실험 데이터를 바탕으로 분석하여 수확만을 위한 수확로봇과 작물 이송만을 위한 이송로봇으로 구성했을 경우보다 수확로봇과 이송로봇을 적절히 혼용하고 로봇끼리 협동작업을 했을 때 전체적인 작업 속도가 더 높음을 보인다.

10.7840/kics.2022.47.10.1724

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Complex urban dataset with multi-level sensors from highly diverse urban environments

The International Journal of Robotics Research (2019)

Jin-Yong Jeong Younggun Cho Young-Sik Shin Hyunchul Roh Ayoung Kim

The high diversity of urban environments, at both the inter and intra levels, poses challenges for robotics research. Such challenges include discrepancies in urban features between cities and the deterioration of sensor measurements within a city. With such diversity in consideration, this paper aims to provide Light Detection and Ranging (LiDAR) and image data acquired in complex urban environments. In contrast to existing datasets, the presented dataset encapsulates various complex urban features and addresses the major issues of complex urban areas, such as unreliable and sporadic Global Positioning System (GPS) data, multi-lane roads, complex building structures, and the abundance of highly dynamic objects. This paper provides two types of LiDAR sensor data (2D and 3D) as well as navigation sensor data with commercial-level accuracy and high-level accuracy. In addition, two levels of sensor data are provided for the purpose of assisting in the complete validation of algorithms using consumer-grade sensors. A forward-facing stereo camera was utilized to capture visual images of the environment and the position information of the vehicle that was estimated through simultaneous localization mapping (SLAM) are offered as a baseline. This paper presents 3D map data generated by the SLAM algorithm in the LASer (LAS) format for a wide array of research purposes, and a file player and a data viewer have been made available via the Github webpage to allow researchers to conveniently utilize the data in a Robot Operating System (ROS) environment. The provided file player is capable of sequentially publishing large quantities of data, similar to the rosbag player. The dataset in its entirety can be found at http://irap.kaist.ac.kr/dataset .

Ranging

Sensor Fusion

10.1177/0278364919843996

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Citations (221)

APPAREIL DE DÉGAZAGE COMPORTANT UNE CUVE SOUS VIDE DUPLEX

Byung-Kyu Jung Han-Yung Kal Jin-Ho Son Young-Sik Shin Uel-Duk Jin

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Probing the persistence of energy-level control effects at organic semiconductor/electrode interfaces based on photoemission spectroscopy combined with Ar gas cluster ion beam sputtering

RSC Advances (2015)

Dong‐Jin Yun T. Shin Sungjun Park Young-Sik Shin Yongkoo Kyung

Thein situPES – Ar GCIB sputtering combined analysis enable to characterize the persistence of controlled energy-level at organic semiconductor/electrode interfaces.

Organic semiconductor

10.1039/c5ra14384e

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강건한 CNN기반 수중 물체 인식을 위한 이미지 합성과 자동화된 Annotation Tool

Myung–Hwan Jeon Yeongjun Lee Young-Sik Shin Hyesu Jang Tae–Kyeong Yeu

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Prevalence and antimicrobial resistance of Salmonella isolated in poultry farms

Korean Journal of Veterinary Service (2015)

Mi-Seon Kang Su-Ji Lee Young-Sik Shin

An investigation was carried out to determine the prevalence and antimicrobial resistance of Salmonella isolated from chicks and ducks. A total of 2,522 samples collected from 281 farms were examined from 2013 to 2014. The overall prevalence of Salmonella spp. was 21.7% (61/281) of farms and 83 isolates (3.3%) were isolated from 2,522 samples. Nine serotypes of Salmonella spp. were identified such as S. Typhimurium (19/83), S. Enteritidis (12/83), S. London (11/83), S. Senftenberg (8/83), S. Infantis (4/83), S. Montevideo (3/83), S. Hadar (3/83), S. Saintpaul (1/83), S. Rissen (1/83) and S. Arizonae (2/83). Nineteen isolates were found to be untypable serotypes. In the results of antimicrobial resistance test, all of isolates were resistant to at least two antimicrobial agent and the high resistance was found to nalidixic acid (66.3%), streptomycin (57.8%). All of isolates were susceptible to amoxacillin/clavulic acid, cefeprime, ampicillin, sulfamethoxazole/trimethoprim. This results indicated the serotypes of Salmonella isolates are widely distributed in chicks and ducks. Therefore further epidemiological studies should be carried out in breeder farm and a hatchery.

Trimethoprim

Sulfamethoxazole

Hatchery

10.7853/kjvs.2015.38.2.95

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Citations (2)

LiDAR configuration comparison for urban mapping system

Joo-Wan Kim Jin-Yong Jeong Young-Sik Shin Younggun Cho Hyunchul Roh

The Mobile Mapping System (MMS) is widely used when mapping urban environment. The critical challenge for mapping accuracy is at localization accuracy under highly sporadic global positioning system (GPS) signal. To tackle this issue, approaches often rely on cameras and Light Detection and Ranging (LiDAR)s to exploit visual and spatial features in the environment. Among many sensors, this paper focuses on the use of LiDAR, especially evaluating the LiDAR types and mechanical configurations. In this paper, we compare two typical LiDAR configurations, push-broom (2D) and 360 scanning (3D) style, in terms of the resulting mapping performance. Resulting maps from two configurations over the same place are directly compared to evaluate characteristic of each LiDAR configuration.

Ranging

Mobile mapping

10.1109/urai.2017.7992845

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Citations (5)

Controls on Diagenetic Mineralogy of Sandstones and Mudrocks from the Lower Hayang Group (Cretaceous) in the Daegu Area, Korea

Journal of the Korean earth science society (2002)

Young-Sik Shin Chang Oh Choo Yoon-Jong Lee Yong‐Tae Lee In-Seok Koh

Authigenic minerals found in sandstones and mudrocks of the Lower Hayang Group (Cretaceous) in the central part of the Kyungsang Basin are carbonate minerals (calcite, dolomite), clay minerals (illite, chlorite, C/S, I/S and kaolinite), albite, quartz and hematite. Characteristic diagenetic mineral assemblages are as follows: albite-chlorite (including C/S)-hematite in the Chilgog Formation, albite-illite-calcite in the Silla Conglomerate, illite-chlorite-hematite in the Haman Formation and albite-chlorite-dolomite in the Panyawol Formation, respectively. Among clay minerals reflecting the physical and chemical change of the diagenetic process, illite, the dominant clay mineral, occurs in every formation in the study area. Chlorite occurs mainly in green or gray sandstones and mudrocks, or in sandstones and mudrocks of the Chilogok Formation which contains a high content of volcanic materials. Based on the mineral assemblage, diagenetic minerals are strongly related with source rocks. Judging from the illite crystallinity, diagenesis of sandstones and mudrocks in the study area reached the late diagenetic stage or low grade metamorphisim. The diagenetic process was much influenced by intrusion of the Bulguksa granite, content of organic materials, grain size, and depositional environment rather than burial depth.

Illite

Authigenic

Ankerite

Source

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Citations (1)