• Journal of Auto-vehicle Safety Association
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• v.14 no.1
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• pp.20-25
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• 2022

This paper presents a development of simulation environment for validation of autonomous driving (AD) algorithm based on Robot Operating System (ROS). ROS is one of the commonly-used frameworks utilized to control autonomous vehicles. For the evaluation of AD algorithm, a 3D autonomous driving simulator has been developed based on LGSVL. Two additional sensors are implemented in the simulation vehicle. First, Lidar sensor is mounted on the ego vehicle for real-time driving environment perception. Second, GPS sensor is equipped to estimate ego vehicle's position. With the vehicle sensor configuration in the simulation, the AD algorithm can predict the local environment and determine control commands with motion planning. The simulation environment has been evaluated with lane changing and keeping scenarios. The simulation results show that the proposed 3D simulator can successfully imitate the operation of a real-world vehicle.

• International journal of advanced smart convergence
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• v.9 no.3
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• pp.232-238
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• 2020

In this paper, we study on aerial objects detection and position estimation algorithm for the safety of UAV that flight in BVLOS. We use the vision sensor and LiDAR to detect objects. We use YOLOv2 architecture based on CNN to detect objects on a 2D image. Additionally we use a clustering method to detect objects on point cloud data acquired from LiDAR. When a single sensor used, detection rate can be degraded in a specific situation depending on the characteristics of sensor. If the result of the detection algorithm using a single sensor is absent or false, we need to complement the detection accuracy. In order to complement the accuracy of detection algorithm based on a single sensor, we use the Kalman filter. And we fused the results of a single sensor to improve detection accuracy. We estimate the 3D position of the object using the pixel position of the object and distance measured to LiDAR. We verified the performance of proposed fusion algorithm by performing the simulation using the Gazebo simulator.

• Journal of Korean Society for Geospatial Information Science
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• v.16 no.2
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• pp.67-76
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• 2008

Recently, one of the most outstanding technological characteristics of aerial survey is an application of Direct Georeferencing, which is based on the integration of main sensing sensors such as aerial camera or Lidar with positioning sensors GPS and IMU. In addition, a variety of digital aerial mapping cameras is developed and supplied with the verification of their technical superiority and applicability. In accordance with this requirement, the development of a multi-looking aerial photographing system is just making 3-D information acquisition and texture mapping possible for the dead areas arising from building side and high terrain variation where the use of traditional phptogrammetry is not valid. However, the development of a multi-looking camera integrating different sensors and multi-camera array causes some problems to conduct time synchronization among sensors and their geometric and radiometric calibration. The establishment of a test field for aerial sensor calibration is absolutely necessary to solve this problem. Therefore, this paper describes investigations for photogrammetric Test Field of foreign countries and suggest an establishment scheme for domestic test field.

• Journal of Internet Computing and Services
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• v.22 no.3
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• pp.17-26
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• 2021

Recently, COVID-19 has spread and time to stay at home has been increasing in accordance with quarantine guidelines of the government such as recommendations to refrain from going out. As a result, the number of single-person households staying at home is also increasingsingle-person households are less likely to be notified to the outside world in times of emergency than multi-person households. This study collects various situations occurring in the home with lidar, image, and voice sensors and analyzes the data according to the sensors through their respective algorithms. Using this method, we analyzed abnormal patterns such as emergency situations and conducted research to detect abnormal signs in humans. Artificial intelligence algorithms that detect abnormalities in people by each sensor were studied and the accuracy of anomaly detection was measured according to the sensor. Furthermore, this work proposes a fusion method that complements the pros and cons between sensors by experimenting with the detectability of sensors for various situations.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2022.05a
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• pp.101-103
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• 2022

CCTV is mainly used as a real-time detection system for critical facilities. In the case of CCTV, although the accuracy is high, the viewing angle is narrow, so it is used in combination with a sensor such as a radar. LiDAR is a technology that acquires distance information by detecting the time it takes to reflect off an object using a high-power pulsed laser. In the case of lidar, there is a problem in that the utilization is not high in terms of cost and technology due to the limitation of the number of simultaneous processing sensors in the server due to the data throughput. The detection method by the optical mesh sensor is also vulnerable to strong winds and extreme cold, and there is a problem of maintenance due to damage to animals. In this paper, by using the 1550nm wavelength band instead of the 905nm wavelength band used in the existing lidar sensor, the effect on the weather environment is strong and we propose to develop a system that can integrate and control multiple sensors.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.10a
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• pp.388-390
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• 2021

This paper introduces a system that can help visually impaired people to board a bus using an embedded board with keypad, dot matrix, lidar sensor, NFC reader, a public data portal Open API system, and deep learning algorithm (YOLOv5). The user inputs the desired bus number through the NFC reader and keypad, and then obtains the location and expected arrival time information of the bus through the Open API real-time data through the voice output entered into the system. In addition, by displaying the bus number as the dot matrix, it can help the bus driver to wait for the visually impaired, and at the same time, a deep learning algorithm (YOLOv5) recognizes the bus number that stops in real time and detects the distance to the bus with a distance detection sensor such as lidar sensor.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.2
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• pp.124-132
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• 2017

With the growth of interest in the UAVs, the study of the UAV collision avoidance is in progress. Lidar, Video camera, laser sensor, and ultrasonic sensor may be utilized for collision avoidance of UAV. In this paper, the characteristics of MB 1230 ultrasonic sensor is analyzed through the experiment. When concurrently using multitudinous ultrasonic sensors, ultrasonic sensors do not generate correct measurement values. To solve ultrasonic sensor interference, sequentially transmitting ultrasonics signal is suggested by using 'Enable' signal input of ultrasonic sensor, so by activating each ultrasonic sensor gradually. This proposed solution is also verified by experimentation.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.4
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• pp.415-423
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• 2016

A TOF type LADAR is utilized for unmanned systems(UGV, UAV, USV, etc.), precision digital elevation maps, and electronic fences. Electronical and optical signal processing techniques are melted in LADAR sensor systems. In this study important factors are examined for high reliability sensor development. By considering those factors, hardwares and softwares of a test LADAR is developed and tested, We report the practical design tips, test results, and future works for better LADAR system development.

• Journal of the Optical Society of Korea
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• v.19 no.5
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• pp.444-448
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• 2015

We describe the radiative transfer of a Gaussian beam in a water medium using the Monte Carlo method offering basic propagation behaviors. The simulation shows how the energy of the initial Gaussian beam is redistributed as it propagates in coastal water, and also depicts the dependence of the propagation behavior on inherent optical properties of the ocean water such as the single scattering albedo as well as on laser beam parameters, e.g. the M squared. Our results may widen the applicability of LIDARs by providing a couple of design considerations for a bathymetric LIDAR.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.25 no.6_1
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• pp.529-536
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• 2007

Registration between image and object space is a fundamental step in photogrammetry and computer vision. Along with rapid development of sensors - multi/hyper spectral sensor, laser scanning sensor, radar sensor etc., the needs for registration between different sensors are ever increasing. There are two important considerations on different sensor registration. They are sensor invariant feature extraction and correspondence between them. Since point to point correspondence does not exist in image and laser scanning data, it is necessary to have higher entities for extraction and correspondence. This leads to modify first, existing mathematical and geometrical model which was suitable for point measurement to line measurements, second, matching scheme. In this research, linear feature is selected for sensor invariant features and matching entity. Linear features are incorporated into mathematical equation in the form of extended collinearity equation for registration problem known as photo resection which calculates exterior orientation parameters. The other emphasis is on the scheme of finding matched entities in the aide of RANSAC (RANdom SAmple Consensus) in the absence of correspondences. To relieve computational load which is a common problem in sampling theorem, deterministic sampling technique and selecting 4 line features from 4 sectors are applied.