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In this paper, a method and system to compensate vertical component of 3-dimensional magnetic field sensor using the earth`s field was described. Output of magnetic field sensor have a output offset that is generated setting angle error of magnetic sensor and gain error. Thus, to using the magnetic field sensor, it must be compensated. The compensation of magnetic field sensor is required at shield space. However, using the earth`s field, output offset of the sensor can be simply compensated. And, we designed system for compensation of the sensor. The proposed method and system are verified usefulness through experimental.

In this paper, a distance measuring system using a PSD sensor in proposed, which in suitable for low-cost localization sensor of a mobile robot. Because the distance-voltage output of PSD sensor has a non-linear property, the linearizing function is proposed through the experimental characteristics of the sensor. And the characteristics are tested and the distance-voltage data are measured in various colors and materials of object. The parameters of the proposed function are extracted by using the measured data. Finally, the performance and the accuracy of the developed system are verified according to the comparison of the distance by the proposed function with the real distance.

In this paper, a practical technique for correction of a distorted image for vision-based localization of ubiquitous mobile robot. The localization of mobile robot is essential and is realized by using camera vision system. In order to wide the view angle of camera, the vision system includes a fish-eye lens, which distorts the image. Because a mobile robot moves rapidly, the image processing should he fast to recognize the localization. Thus, we propose the practical correction technique for a distorted image, verify the Performance by experimental test.

In this paper, a 3-dimensional analysis of magnetic road and a position sensing system for an autonomous vehicle system is described. Especially, a new position sensing system, end of the important component of an autonomous vehicle, is proposed. In a magnet based autonomous vehicle system, to sense the vehicle position, the sensor measures the field of magnetic road. The field depends on the sensor position of the vehicle on the magnetic road. As the rotation between the magnetic field and the sensor position is highly complex, it is difficult that the relation is stored in memory. Thus, a neural network is used to learn the mapping from th field to the position. The autonomous vehicle system with the proposed position sensing system is tested in experimental setup.