http://rdf.ncbi.nlm.nih.gov/pubchem/patent/KR-102466804-B1
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| filingDate | 2021-04-09-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| grantDate | 2022-11-17-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationDate | 2022-11-17-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber | KR-102466804-B1 |
| titleOfInvention | Autonomous navigation method using image segmentation |
| abstract | The present invention relates to an autonomous navigation method using image segmentation, and a method for autonomous navigation of a ship using a marine image and an artificial neural network according to an aspect of the present invention includes a learning image including a plurality of pixel values and included in the learning image. obtaining labeling data including a plurality of labeling values determined by reflecting type information and distance information of the learning obstacle, wherein the learning image and the labeling data correspond to each other; the artificial neural network receiving the training image and outputting output data, wherein the output data includes a plurality of output values, and the labeling value and the output value correspond to each other; training the artificial neural network using an error function considering a difference between the labeling value and the output value; obtaining the maritime image from a camera installed in the ship; obtaining type information and distance information of an obstacle included in the maritime image by using the artificial neural network, wherein the obstacle included in the maritime image includes a plurality of pixel values; obtaining direction information of an obstacle included in the maritime image based on a position of a pixel value of the obstacle included in the maritime image on the maritime image; obtaining a position of an obstacle included in the maritime image on an obstacle map by using distance information and direction information of the obstacle included in the maritime image; generating the obstacle map using a position on the obstacle map; generating a following path followed by the vessel using the obstacle map and vessel state information, wherein the vessel state information includes location information and attitude information of the vessel; and generating a control signal to allow the vessel to follow the following path using the following path, wherein the control signal includes a propeller control signal and a bow direction control signal of the vessel. |
| priorityDate | 2018-09-04-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| type | http://data.epo.org/linked-data/def/patent/Publication |
Incoming Links
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|---|---|
| isDiscussedBy | http://rdf.ncbi.nlm.nih.gov/pubchem/compound/CID962 http://rdf.ncbi.nlm.nih.gov/pubchem/substance/SID419512635 |
Total number of triples: 43.