• Journal of KIISE:Computing Practices and Letters
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• v.14 no.6
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• pp.619-623
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• 2008

A lane detection system is one of the major components of intelligent vehicle systems. Difficulties in lane detection mainly come from not only various weather conditions but also a variety of special environment. This paper describes a simple and stable method for the broken lane tracking in various environments. Probabilistic Hough Transform (PHT) and the Least-square method (LSM) are used to track and correct the lane orientation. For the efficiency of the proposed method, two regions of interest (ROIs) are placed in the lower part of each image, where lane marking areas usually appear with less intervention in our system view. By testing in both a set of static images and video sequences, the experiments showed that the proposed approach yielded robust and reliable results.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.36 no.4
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• pp.677-684
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• 2016

In order to improve the nighttime visibility of the lane, the need for the development of the automated line marking equipment is on the rise. The purpose of this study is to suggest performance assessment methodology that can be assessed from various aspects such as productivity, safety and quality performance of line marking equipment and to comprehensively analyze the performance of hand-operated and automated equipment based on field test. The following shows the results. It suggested a methodology capable of analyzing the performance of the line marking equipment in terms of productivity, safety and quality. Automated equipment for line marking was analyzed that can be obtained productivity achievement rate of 156.3% as compared with hand-operated equipment. On the basis of the expert advise and literature review, we derived twelve safety factors and ten quality factors of unit work in line marking. By utilizing the AHP technique, we estimated the importance of safety and quality factors. Automated equipment for line marking was analyzed to have been able to expect safety improvement rate of 49.8% and quality improvement rate of 47.2%. It is expected that the performance assessment methodology suggested in this study will be useful in analyzing objective and quantitative validity and expected effectiveness of the line marking equipment.

• Transactions of the Korean Society of Automotive Engineers
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• v.23 no.5
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• pp.463-470
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• 2015

When a camera installed on a vehicle is used, estimation of the camera pose including tilt, roll, and pan angle with respect to the world coordinate system is important to associate camera coordinates with world coordinates. Previous approaches using huge calibration patterns have the disadvantage that the calibration patterns are costly to make and install. And, previous approaches exploiting multiple vanishing points detected in a single image are not suitable for automotive applications as a scene where multiple vanishing points can be captured by a front camera is hard to find in our daily environment. This paper proposes a camera pose estimation method. It collects multiple images of lane markings while changing the horizontal angle with respect to the markings. One vanishing point, the cross point of the left and right lane marking, is detected in each image, and vanishing line is estimated based on the detected vanishing points. Finally, camera pose is estimated from the vanishing line. The proposed method is based on the fact that planar motion does not change the vanishing line of the plane and the normal vector of the plane can be estimated by the vanishing line. Experiments with large and small tilt and roll angle show that the proposed method outputs accurate estimation results respectively. It is verified by checking the lane markings are up right in the bird's eye view image when the pan angle is compensated.

• International Journal of Highway Engineering
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• v.7 no.4 s.26
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• pp.173-184
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• 2005

Pavement markings delineate driver's sight and attentions at day and night. Retroreflectivities of the pavement markings are known to be affected by some factors such as geometrical characteristics of road sections, marking materials, traffic volumes, weather, and so on. Therefore, pavement markings would have different retroreflectivities place by place. The objective of this paper is to contend that there are rises and falls of retroreflectivity of specific geometrical characteristics of road section based on observed field data. For this purpose, retroreflectivities of yellow continued lines and white skip lines were measured on the freeway sections from Hanam to Nami interchanges. And then, the sections are categorized based on road geometric or facility types. From this study, it may be concluded that there exist considerably lower retroreflectivity trends of pavement markings at sharply curved sections, climbing lane sections, ramp sections, and tunnel sections than averaged retroreflectivity trends on freeway sections. This may leads to the necessity of differential pavement marking managements.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.35 no.4
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• pp.921-929
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• 2015

Road conditions which obstruct the driver from seeing road markings, such as in the evening or in the rain, due to the lack of a light source gives way to increasing the risk of traffic accidents. In order to increase road safety, the Korea Expressway Corporation set up a pilot project which used high-quality materials along a section of the Gyeongbu Expressway between Daejeon and Pangyo. There is little research on high-quality materials in the field of pavement marking. This study introduces high-quality materials used in pavement materials, presents the results of a survey conducted to examine the effect of the pilot project and analyzes traffic accident data from before and after the implementation of the pilot project. The survey results show that 87% of the respondents were highly satisfied with the pilot project. With the goal of evaluating the effect of the pilot project, this study used traffic accident data provided by the Korea Expressway Corporation accident data and performed a before-after study of the number of traffic. The results of data analysis show that there were 62 and 48 traffic accidents before and after the implementation of the pilot project. In addition, the result of Emperical Bayes Method indicates that there is an 41.7% decrease in the number of traffic accidents as an effect of High-quality Pavement Marking Materials.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.12
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• pp.1046-1052
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• 2016

For the safe driving of autonomous vehicles, accurate position estimation is required. Generally, position error must be less than 1m because of lane keeping. However, GPS positioning error is more than 1m. Therefore, we must correct this error and a map matching algorithm is generally used. Especially, road marking intensity map have been used in many studies. In previous work, 3D LIDAR with many vertical layers was used to generate a local intensity map. Because it can be obtained sufficient longitudinal information for map matching. However, it is expensive and sufficient road marking information cannot be obtained in rush hour situations. In this paper, we propose a localization algorithm using an accumulated intensity local map. An accumulated intensity local map can be generated with sufficient longitudinal information using 3D LIDAR with a few vertical layers. Using this algorithm, we can also obtain sufficient intensity information in rush hour situations. Thus, it is possible to increase the reliability of the map matching and get accurate position estimation result. In the experimental result, the lateral RMS position error is about 0.12m and the longitudinal RMS error is about 0.19m.

• Korean Journal of Geomatics
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• v.3 no.1
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• pp.67-72
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• 2003

We have seen rapid changes in road systems and networks in urban areas due to fast urbanization and increased traffic demands. As a result, many researchers have put greater importance on extraction, correction and updating of information about road systems. Also, by using the various data on road systems and its condition, we can manage our road more efficiently and economically. Furthermore, such information can be used as input for digital map and GIS analysis. In this research, we used a high resolution aerial photo of the roads in Seongnam area. First, we applied the top-hat filter to the area of interest so that the road markings could be extracted in an efficient manner. The lane separation lines were selected, considering the shape similarity between the selected lane separation line and reference data. Next, we extracted the roads in the urban area using the aforementioned road marking. Using this technique, we could easily extract roads in urban area in semi-automatic way.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.20 no.2
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• pp.183-190
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• 2002

This study is about the extraction of highway's superelevation using real time kinematic surveying among of GPS surveying methods which is economic method to construct data base in the side of highway maintain management. Using the developed vehicle, center line and shoulder of highway are measured and enough precision is obtained after analyzing the result. The result is show that 1.3 cm to 2.0 cm error in the clothed and about 0.8 cm to 1.2 cm error in the circular curve. Those errors are proved error to lane making during construction. This study is expected to become efficient method for extraction of highway alignment elements in the Mobile Mapping System.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.26 no.3
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• pp.32-39
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• 2018

Aircraft parking stand is a place separated by a pavement marking so that aircraft can park in the apron. If there is not an aircraft parking stand available for aircraft just arrived, the aircraft has to wait for a stand becomes empty on taxi lane taxiway, which annoys passengers, and deteriorates the congestion in the airport. Therefore, it is important to provide adequate parking stands in planning process. In this study, we studied the maximum number of aircraft parking stands required in the past, and estimated the future requirements, for Incheon International airport.

• Journal of Mechanical Science and Technology
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• v.19 no.6
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• pp.1268-1279
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• 2005

The current method for pavement sign marking operations is labor-intensive and very dangerous due to the exposure of workers to passing traffic. It also requires blocking traffic for a long period of time resulting serious traffic jam. This paper deals with the development of a robotic system for automating the pavement sign painting operations. The robotic system consists of gantry frame equipped with transverse drive rail and automatic paint spray system. The workspace of the gantry robot is extended to one-lane width with the transverse rail system. This research also includes the development of font data structures that contain the shape information of pavement signs, such as Korean letters, English letters and symbols. The robot path is generated with this font data through the procedures of scaling up/down and partitioning the signs to be painted depending on the workspace size.