• Journal of Advanced Navigation Technology
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• v.24 no.3
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• pp.192-197
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• 2020

Recently, the technologies related to autonomous drive has studying the goal for safe operation and prevent accidents of vehicles. There is radar and camera technologies has used to detect obstacles in these autonomous vehicle research. Now a day, the method for using LiDAR sensor has considering to detect nearby objects and accurately measure the separation distance in the autonomous navigation. It is calculates the distance by recognizing the time differences between the reflected beams and it allows precise distance measurements. But it also has the disadvantage that the recognition rate of object in the atmospheric environment can be reduced. In this paper, point cloud data by triangular functions and Line Regression model are used to implement measurement algorithm, that has improved detecting objects in real time and reduce the error of measuring separation distances based on improved reliability of raw data from LiDAR sensor. It has verified that the range of object detection errors can be improved by using the Python imaging library.

• Journal of the Korean Solar Energy Society
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• v.37 no.6
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• pp.25-37
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• 2017

A study on factors influencing measurement error of Ground-based LiDAR(Light Detection And Ranging) system was conducted in Kimnyeong wind turbine test site on Jeju Island. Three properties of wind including inclined angle, turbulence intensity and power law exponent were taken into account as factors influencing the measurement error of Ground-based LiDAR. In order to calculate LiDAR measurements error, 2.5-month wind speed data collected from LiDAR (WindCube v2) were compared with concurrent data from the anemometer on a nearby 120m-high meteorological mast. In addition, data filtering was performed and its filtering criteria was based on the findings at previous researches. As a result, at 100m above ground level, absolute LiDAR error rate with absolute inclined angle showed 4.58~13.40% and 0.77 of the coefficients of determination, $R^2$. That with turbulence intensity showed 3.58~23.94% and 0.93 of $R^2$ while that with power law exponent showed 4.71~9.53% and 0.41 of $R^2$. Therefore, it was confirmed that the LiDAR measurement error was highly affected by inclined angle and turbulence intensity, while that did not much depend on power law exponent.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.3
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• pp.259-268
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• 2012

This paper aims to estimate the carbon dioxide stocks in forests using airborne LiDAR data with a density of approximate 4.4 points per meter square. To achieve this goal, a processing chain consisting of bare earth Digital Terrain Model(DTM) extraction and individual tree top detection has been developed. As results of this experiment, the reliable DTM with type-II errors of 3.32% and tree positions with overall accuracy of 66.26% were extracted in the study area. The total estimated carbon dioxide stocks in the study area using extracted 3-D forests structures well suited with the traditional method by field measurements upto 7.2% error level. This results showed that LiDAR technology is highly valuable for replacing the existing forest resources inventory.

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.72-81
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• 2023

We introduce tightly-coupled GNSS-LiDAR-Inertial state estimator, which is capable of SLAM (Simultaneously Localization and Mapping) and autonomous driving. Long term drift is one of the main sources of estimation error, and some LiDAR SLAM framework utilize loop closure to overcome this error. However, when loop closing event happens, one's current state could change abruptly and pose some safety issues on drivers. Directly utilizing GNSS (Global Navigation Satellite System) positioning information could help alleviating this problem, but accurate information is not always available and inaccurate vertical positioning issues still exist. We thus propose our method which tightly couples raw GNSS measurements into LiDAR-Inertial SLAM framework which can handle satellite positioning information regardless of its uncertainty. Also, with NLOS (Non-light-of-sight) satellite signal handling, we can estimate our states more smoothly and accurately. With several autonomous driving tests on AGV (Autonomous Ground Vehicle), we verified that our method can be applied to real-world problem.

• Korean Journal of Remote Sensing
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• v.29 no.1
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• pp.81-94
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• 2013

The Radar altimeter transmits radio signals to the surface, receives the backscattered signals and measures the distance between the airplane and the nadir surface. The measurements of radar altimeter are affected by various factors on the surface below the aircraft. This study performed flight campaigns in June 2012 and acquired raw data from radar altimeter, LiDAR and other sensors. Based on the LiDAR DSM (Digital Surface Model) as a reference data, the characteristics of radar altimeter were analyzed in the respect of range and surface area affecting on the receiving power of the radar altimeter. Consequently, the radar altimeter was strongly affected by the surface area within beam width and reflectivity related to RCS (Radar Cross Section) rather than range.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.1D
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• pp.169-175
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• 2006

Recently, slope failures are disastrous when they occur in mountainous area adjoining highways. The accidents associated with slope failures have increased due to rapid urbanization of mountainous area. Therefore, the inspection of slope is conducted to maintain road safety as well as road function. In this study, we apply to the remedy which is comparing existent description to advanced technology using GIS. We utilize a Terrestrial LiDAR, one of the advanced method, to generate precise and complete road slope model from expert point of view. In result, we extract hazardous slope information from external measurements referring to the evaluation criteria of external slope stability. We suggest not only the database but also the method of road risk evaluation based on internet GIS.

• Journal of Korean Society of Forest Science
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• v.94 no.6
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• pp.431-440
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• 2005

Location, height and clear-length of individual tree can be measured directly by LiDAR Remote Sensing, and dbh(diameter at breast height) can be estimated indirectly by tree height measured by LiDAR. In addition, stand volume and stand biomass are computed from estimated growth factors. In this study, each estimated growth factor was compared to the field measurements to validate accuracy. The coefficient of determination of total tree heights was 0.66 for total trees, 0.68 for Pinus koraiensis, 0.66 for Larix leptolepis and 0.60 for Quercus spp. The coefficient of determination of clear-length was 0.79 for total trees, 0.73 for Pinus koraiensis, 0.79 for Larix leptolepis, 0.68 for Quercus spp. The coefficient of determination of dbh predicted was 0.73 for Pinus koraiensis, 0.73 for Larix leptolepis and 0.85 for Quercus spp. Moreover The coefficient of determination of basal area was 0.82 for Pinus koraiensis, 0.92 for Larix leptolepis and 0.95 for Quercus spp. Biomass per ha computed by growth factor using LiDAR was 40,306 dm/ha for Pinus koraiensis, 94,150 tdm/ha for Larix leptolepis and 94,481 tdm/ha for Quercus spp. by species.

• Journal of Wind Energy
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• v.14 no.4
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• pp.87-97
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• 2023

Due to the limitations of onshore wind power, the wind power industry is currently transitioning to offshore wind power. There has been active research on the development of a floating LiDAR system (FLS) that is easy to install at a low cost. The Carbon Trust published a commercialization roadmap for FLS in 2013, and an updated version was released in 2018, taking into account industry experience. The roadmap divides the development maturity of FLS into three stages: Stage 1 (prototype), Stage 2 (pre-commercialization), and Stage 3 (commercialization), each of which requires availability and accuracy assessment. The results must meet the requirements of the Key Performance Index (KPI) for each stage. Therefore, when developing FLS, the motion compensation algorithm of the FLS is essential because the LiDAR can produce incorrect measurements of wind speed and direction due to the six degrees of freedom in motion. In this study, we implemented the FLS motion compensation algorithm developed by Nassif, F.B. et al. and validated it using data provided by Fraunhofer. In conclusion, the results showed that the determination coefficients of wind speed and wind direction were improved compared to those obtained from the met mast.

• The Journal of Engineering Geology
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• v.33 no.1
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• pp.27-37
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• 2023

Assessing landcreep requires long-term monitoring, because cracks and steps develop over long periods. However, long-term monitoring using wire extensometers and inclinometers is inefficient in terms of cost and management. Therefore, this study selected an area with active landcreep and evaluated the feasibility of monitoring it using imagesing from terrestrial LiDAR and drones. The results were compared with minute-by-minute data measured in the field using a wire extensometer. The comparison identified subtle differences in the accuracy of the two sets of results, but monitoring using terrestrial LiDAR and drones did generate values similar to the wire extensometer. This demonstrates the potential of basic monitoring using terrestrial LiDAR and drones, although minute-byminute field measurements are required for analyzing and predicting landcreep. In the future, precise monitoring using images will be feasible after verifying image analysis at various levels and accumulating data considering climate and accuracy.

• Korean Journal of Remote Sensing
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• v.22 no.6
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• pp.543-551
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• 2006

Recently efforts to extract information about forests by using remote sensing techniques for efficient forest management have progressed actively. In terms of extraction of tree information using single remote sensing data, however, the accuracy of tree recognition and the quantity of extracted information is limited. The objective of this study is to carry out tree modeling in domestic environment applying the latest core technique for tree modeling using color aerial photographs and LiDAR data and to estimate the result of tree modeling. A small-scale coniferous forest was investigated in Daejeon. It was 0.77 that the $R^2$ of accuracy test of tree numbers that estimated with color aerial photography and LiDAR data. In terms of tree height, there was no difference between the estimated value and the field measurements in the case of the group accuracy test of the recently unchanged area. Moreover $R^2$ was 0.83 in the case of the individual accuracy test.