Patents by Inventor Hea-Min LEE

Hea-Min LEE has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Method and apparatus for autonomous driving of mobile robot in orchard environment
    Patent number: 11841706
    Abstract: A method and an apparatus for recognition a position and generating a path for autonomous driving of a mobile robot in an orchard environment are provided. The method converts three-dimensional (3D) point cloud data for the orchard environment into a 2D grid map, obtains a position of the mobile robot by performing local scan matching and global scan matching on the 2D grid map, and extracts a tree from the 2D grid map based on occupancy of each grid of the 2D grid map. Then, an effective line based on center points of extracted trees is obtained, a destination based on the obtained effective line is generated, and a driving path according to the generated destination and the position of the mobile robot is generated.
    Type: Grant
    Filed: March 1, 2021
    Date of Patent: December 12, 2023
    Assignee: Electronics and Telecommunications Research Institute
    Inventors: Su Yong An, Hea-Min Lee, Dongyeop Kang, Wookyong Kwon, Song Li, Ki Young Moon, Yun Su Chung
  • METHOD AND APPARATUS FOR AUTONOMOUS DRIVING OF MOBILE ROBOT IN ORCHARD ENVIRONMENT
    Publication number: 20210278848
    Abstract: A method and an apparatus for recognition a position and generating a path for autonomous driving of a mobile robot in an orchard environment are provided. The method converts three-dimensional (3D) point cloud data for the orchard environment into a 2D grid map, obtains a position of the mobile robot by performing local scan matching and global scan matching on the 2D grid map, and extracts a tree from the 2D grid map based on occupancy of each grid of the 2D grid map. Then, an effective line based on center points of extracted trees is obtained, a destination based on the obtained effective line is generated, and a driving path according to the generated destination and the position of the mobile robot is generated.
    Type: Application
    Filed: March 1, 2021
    Publication date: September 9, 2021
    Applicant: Electronics and Telecommunications Research Institute
    Inventors: Su Yong AN, Hea-Min LEE, Dongyeop KANG, Wookyong KWON, Song LI, Ki Young MOON, Yun Su CHUNG