RESEARCH
ROS & Robot Control Group
ROS & ROBOT CONTROL GROUP OVERVIEW
CONTACT
MISSION STATEMENT
“The ROS & Robot Control Group develops intelligent robotic systems by combining mechanical engineering, computer vision, and mobile technologies. Our work spans robotic arms, ground vehicles, PTZ camera systems, and custom mobile applications to support advanced automation, structural health monitoring, and smart infrastructure monitoring”
RESEARCH INTEREST
-
Autonomous Ground Vehicles
-
Path Planning and ROS Simulated Environments​
-
-
Remote Visual Sensing
-
Pan-Tilt-Zoom Camera System​
-
6DoF Robot Arm for visual monitoring
-
-
Mobile Application Development
-
Smart Construction Monitoring​
-
Detailed Work
1. Remote Visual Sensing ​
1-1) Pan-Tilt-Zoom Camera System
This work presents a PTZ camera system for remote visual sensing that automatically centers and adjusts the field of view based on the geometric properties of a selected Region of Interest (ROI). By modeling zoom-induced drift with optical-flow–based calibration, the system ensures accurate tracking and framing, validated through experimental metrics like RMS error, standard deviation, and Intersection over Union (IoU).
1-2) 6DoF Robot Arm for Visual Monitoring
This work presents a 6-DoF robotic arm system designed for precise visual monitoring of objects of varying sizes and at different distances. Unlike traditional 2-DoF PTZ systems, the 6-DoF configuration enables greater flexibility in viewpoint selection and camera positioning, allowing the robot to maintain optimal framing and alignment with the Region of Interest (ROI) in complex 3D environments.
2. Mobile Application Development​​
2-1) Smart Construction Monitoring
This study presents a mobile application that overlays recent images of construction sites onto mapping APIs like Google Maps to enable real-time, user-guided path planning for unmanned ground vehicles (UGVs). By computing a homographic transformation between captured images and satellite views, the system functions as a dynamic digital twin enhancing inspection accuracy, reducing operational workload, and supporting GPS-based autonomous navigation in evolving environments.
