• 전자공학회논문지 IE
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• v.46 no.1
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• pp.7-15
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• 2009

In this paper, automatic structure boundary extraction is proposed using terrestrial LIDAR (Light Detection And Ranging) in 3-dimensional data. This paper describes an algorithm which does not use pictures and pre-processing. In this algorithm, an efficient decimation method is proposed, considering the size of object, the amount of LIDAR data, etc. From these decimated data, object points and non-object points are distinguished using distance information which is a major features of LIDAR. After that, large and small values are extracted using local variations, which can be candidate for boundary. Finally, a boundary line is drawn based on the boundary point candidates. In this way, the approximate boundary of the object is extracted.

• KIPS Transactions on Software and Data Engineering
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• v.8 no.2
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• pp.89-96
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• 2019

360 degree 3-dimensional lidar sensors and vision cameras are commonly used in the development of autonomous driving techniques for automobile, drone, etc. By the way, existing calibration techniques for obtaining th e external transformation of the lidar and the camera sensors have disadvantages in that special calibration objects are used or the object size is too large. In this paper, we introduce a simple calibration method between two sensors using a spherical object. We calculated the sphere center coordinates using four 3-D points selected by RANSAC of the range data of the sphere. The 2-dimensional coordinates of the object center in the camera image are also detected to calibrate the two sensors. Even when the range data is acquired from various angles, the image of the spherical object always maintains a circular shape. The proposed method results in about 2 pixel reprojection error, and the performance of the proposed technique is analyzed by comparing with the existing methods.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.32 no.1D
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• pp.81-88
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• 2012

This present research was carried out by dividing two parts; field surveying and data processing, in order to analyze changed patterns of a shoreline. Firstly, the shoreline information measured by the precise GPS positioning during long duration was collected. Secondly, the algorithm for detecting an auto boundary with regards to the changed shoreline with multi-image data was developed. Then, a comparative research was conducted. Haeundae beach which is one of the most famous ones in Korea was selected as a test site. RTK-GPS surveying had been performed overall eight times from September 2005 to September 2009. The filed test by aerial Lidar was conducted twice on December 2006 and March 2009 respectively. As a result estimated from both sensors, there is a slight difference. The average length of shoreline analyzed by RTK-GPS is approximately 1,364.6 m, while one from aerial Lidar is about 1,402.5 m. In this investigation, the specific algorithm for detecting the shoreline detection was developed by Visual C++ MFC (Microsoft Foundation Class). The analysis result estimated by aerial photo and satellite image was 1,391.0 m. The level of reliability was 98.1% for auto boundary detection when it compared with real surveying data.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.3
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• pp.269-277
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• 2012

Street trees are one of useful urban facilities that reduce carbon dioxide and provide green space in urban areas. They are usually managed by local government, and it is effective to use aerial LIDAR data in order to acquire information such as the location, height and crown width of street tree systematically. In this research, algorithm was proposed that improves the accuracy of extracting top points of street trees and separates the region of individual street trees from aerial LIDAR data. In order to verify the proposed algorithm, a simulated aerial LIDAR data that exactly knows the number, height and crown width of street trees was created. As for the procedure of data processing, filtering that separates ground and non-ground points from LIDAR data was first conducted in order to separate the region of individual street trees. An estimated non-street tree points were then removed from non-ground points, and the top points of street trees were estimated. Region of individual street trees was determined by using the intersecting point of straight line that connects top point and ground point of street tree. Through the experiment by using simulated data, it was possible to refine wrongly estimated points occurred by determining tree tops and to determine the positional information, height, crown width of street trees through the determination of region of street trees.

• Korean Journal of Remote Sensing
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• v.19 no.4
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• pp.307-317
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• 2003

This paper presents an algorithm that automatically extracts buildings among many different features on the earth surface by fusing LIDAR data with panchromatic aerial images. The proposed algorithm consists of three stages such as point level process, polygon level process, parameter space level process. At the first stage, we eliminate gross errors and apply a local maxima filter to detect building candidate points from the raw laser scanning data. After then, a grouping procedure is performed for segmenting raw LIDAR data and the segmented LIDAR data is polygonized by the encasing polygon algorithm developed in the research. At the second stage, we eliminate non-building polygons using several constraints such as area and circularity. At the last stage, all the polygons generated at the second stage are projected onto the aerial stereo images through collinearity condition equations. Finally, we fuse the projected encasing polygons with edges detected by image processing for refining the building segments. The experimental results showed that the RMSEs of building corners in X, Y and Z were 8.1cm, 24.7cm, 35.9cm, respectively.

• Journal of Auto-vehicle Safety Association
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• v.14 no.2
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• pp.20-25
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• 2022

This paper represents an adaptive Region of Interest (ROI) decision for real-time performance in an autonomous driving perception module. Since the whole automated driving system consists of numerous modules and subdivisions of module occur, it is necessary to consider the characteristics, complexity, and limitations of each module. Furthermore, Light Detection And Ranging (Lidar) sensors require a considerable amount of time. In view of these limitations, division of submodule is inevitable to represent high real-time performance for stable system. This paper proposes ROI to reduce the number of data respect to computation time. ROI is set by a road's design speed and the corresponding ROI is applied differently to each vehicle considering its speed. The simulation model is constructed by ROS, and overall data analysis is conducted by Matlab. The algorithm is validated using real-time driving data in urban environment, and the result shows that ROI provides low computational costs.

• Proceedings of the Korea Information Processing Society Conference
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• 2021.11a
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• pp.1376-1379
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• 2021

As the demand for yachts has increased recently, the number of people holding yachts and obtaining driver's licenses is also increasing. Therefore, inconveniences such as registration of entry and departure of ports and boarding lists and maintenance of yachts are occurring. Therefore, in this paper, GPS, Lidar, communication equipment, etc. are easily installed through the implementation of modular equipment inside the yacht, and by accessing modular equipment using a smartphone, route setting and various convenience functions can be used.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.512-514
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• 2005

Accurate DEM surface of forest floor is very important to extract any meaningful information regarding forest stand structure, such as tree heights, stand density, crown morphology, and biomass. In airborne lidar data processing, DEM data of forest floor is mostly generated by interpolating those elevation points obtained from last laser returns. In this study, we try to analyze the property of the last laser return under relatively dense forest canopy. Airborne laser data were obtained over the study area in relatively dense pine plantation forest. Two DEM data were generated by using all the points in the last laser returns and using only those points after removing non-ground points. From the preliminary analysis on these DEM data, we found that more than half of points among the last laser returns are actually hit from canopy, branches, and understory vegetation that should be removed before generating the surface DEM data.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.132-135
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• 2004

Building information plays a key role in diverse applications such as urban planning, telecommunication and environment monitoring. Automatic building extraction has been a prime interest in the field of GIS and photogrammetry. In this paper, we presented an automatic approach for building extraction from lidar data. The proposed approach is divided into four processes: pre-processing, filtering, segmentation and building extraction. Experimental results showed that the proposed method detected most of buildings with less commission and omission errors.

• Journal of Auto-vehicle Safety Association
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• v.12 no.4
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• pp.23-30
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• 2020

Recently, self-driving research has been actively studied in various institutions. Accurate recognition is important because information about surrounding objects is needed for safe autonomous driving. This study mainly deals with the signal processing of LiDAR among sensors for object recognition. LiDAR is a sensor that is widely used for high recognition accuracy. First, we clustered and tracked objects by predicting relative position and speed of objects. The characteristic points of all objects were extracted using point cloud data of each objects through proposed algorithm. The Classification between vehicle and pedestrians is estimated using number of characteristic points and distances among characteristic points. The algorithm for classifying cars and pedestrians was implemented and verified using test vehicle equipped with LiDAR sensors. The accuracy of proposed object classification algorithm was about 97%. The classification accuracy was improved by about 13.5% compared with deep learning based algorithm.