• 제어로봇시스템학회논문지
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• 제12권4호
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• pp.395-399
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• 2006

A method to recognize unpaved road region using a 3D depth measurement system is proposed for mobile robots. For autonomous maneuvering of mobile robots, recognition of obstacles or recognition of road region is the essential task. In this paper, the 3D depth measurement system which is composed of a rotating mirror, a line laser and mono-camera is employed to detect depth, where the laser light is reflected by the mirror and projected to the scene objects whose locations are to be determined. The obtained depth information is converted into an image. Such depth images of the road region represent even and plane while that of off-road region is irregular or textured. Therefore, the problem falls into a texture identification problem. Road region is detected employing a simple spatial differentiation technique to detect the plain textured area. Identification results of the diverse situation of unpaved trail are included in this paper.

• 로봇학회논문지
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• 제6권2호
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• pp.182-188
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• 2011

This paper describes a method of road tracking by using a vision and laser with extracting road boundary (road lane and curb) for navigation of intelligent transport robot in structured road environments. Road boundary information plays a major role in developing such intelligent robot. For global navigation, we use a global positioning system achieved by means of a global planner and local navigation accomplished with recognizing road lane and curb which is road boundary on the road and estimating the location of lane and curb from the current robot with EKF(Extended Kalman Filter) algorithm in the road assumed that it has prior information. The complete system has been tested on the electronic vehicles which is equipped with cameras, lasers, GPS. Experimental results are presented to demonstrate the effectiveness of the combined laser and vision system by our approach for detecting the curb of road and lane boundary detection.

• 대한인간공학회지
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• 제25권4호
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• pp.23-33
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• 2006

The purpose of this study is to determine the economical standard of road signs by verifying the difference of driver's recognition and reaction time according to the space rate of letters on the road signs. For this reason, indoor simulations was conducted to confirm difference of recognition and reaction time on six sign-targets having different space rate. Also, a negative binomial regression model was used to find the main factors which could lower the rate of misreading. For this model, increasing of legibility of sign is not only simple enlargement of sign, but also suitable match of letters and sign. The result of this study is capable of verifying the importance of the space rate in road signs, and being utilized as a effective method to determine the standard of the road signs.

• 한국항행학회논문지
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• 제15권3호
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• pp.432-440
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• 2011

본 논문에서는 위성항법 기반 교통인프라에서 제공되는 정보를 이용하여 차로 구분에 적용할 때 차로 구분 성능을 향상시키기 위한 차로 제한 조건을 제시하고 시뮬레이션을 통하여 성능을 검증하였다. 차로 제한 조건은 차량의 진행 방향과 차량이 위치하고 있는 차로의 관계를 이용하여 1차로와 마지막 차로의 차로 구분 임계치를 크게 설정하여 차로 구분 성공률을 향상시키는 기법이다. 시뮬레이션 결과 차로 제한 조건을 사용할 경우 4차로에서는 40%, 6차로에서는 25%, 8차로에서는 15%의 성능차로 구분 성능이 향상됨을 확인하였다.

• 드라이브 ㆍ 컨트롤
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• 제20권1호
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• pp.8-15
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• 2023

With the recent trend of intelligence and automation of construction work, a double-blade road cutter is being developed that automatically enables cutting along the cutting line marked on the road using a vision system. The road cutter can recognize the cutting line through the camera and correct the driving route in real-time, and it detects the load of the cutting blade in real-time to control the driving speed in case of overload to protect workers and cutting blades. In this study, a vision system mounted on a double-blade road cutter was developed. A cutting route recognition technology was developed to stably recognize cutting lines displayed on non-uniform road surfaces, and performance was verified in similar environments. In addition, a vision sensor protection module was developed to prevent foreign substances (dust, water, etc.) generated during cutting from being attached to the camera.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2015년도 추계학술발표대회
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• pp.1408-1410
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• 2015

Information about the painted road markings and other painted road objects play an important part in keeping safety of drivers. Some researchers have presented research approaches and dealt with road markings detection. In this paper, we present comprehensive survey of these techniques, and review some of them like a machine learning method, template matching method for road markings detection and classification, method of detection and classification of road markings using curve-based prototype fitting, signed edge signature method.

• 제어로봇시스템학회논문지
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• 제21권2호
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• pp.121-129
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• 2015

This paper presents a multiple vehicle recognition algorithm based on radar and vision sensor fusion for lane change assistance. To determine whether the lane change is possible, it is necessary to recognize not only a primary vehicle which is located in-lane, but also other adjacent vehicles in the left and/or right lanes. With the given sensor configuration, two challenging problems are considered. One is that the guardrail detected by the front radar might be recognized as a left or right vehicle due to its genetic characteristics. This problem can be solved by a guardrail recognition algorithm based on motion and shape attributes. The other problem is that the recognition of rear vehicles in the left or right lanes might be wrong, especially on curved roads due to the low accuracy of the lateral position measured by rear radars, as well as due to a lack of knowledge of road curvature in the backward direction. In order to solve this problem, it is proposed that the road curvature measured by the front vision sensor is used to derive the road curvature toward the rear direction. Finally, the proposed algorithm for multiple vehicle recognition is validated via field test data on real roads.

• 한국측량학회지
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• 제31권4호
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• pp.293-300
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• 2013

도로표지는 운전자들에게 유용한 정보들을 제공함으로서 안전하고 원활한 교통을 확보하기 위한 중요한 시설물이다. 도로표지를 체계적으로 관리하기 위해서는 도로표지 내용에 대한 DB구축이 필요하며 이를 위한 작업은 거의 수동으로 진행되고 있어 많은 시간과 비용이 소요된다. 본 연구에서는 도로표지 영상에서 방향정보를 자동으로 인식 추출하기 위한 알고리즘을 제안하였다. 또한 OpenCV를 이용해 이를 구현하였으며 도로표지 영상에 적용하였다. 방향정보의 자동추출을 위해, 영상 개선, 영상 이진화, 방향지시 도형 영역 추출, 특징점 추출, 템플릿 영상정합 등의 영상처리 기법을 코딩하여 적용하였으며 이를 통해 방향정보 자동 인식의 가능성을 확인하였다.

• 대한공간정보학회지
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• 제20권2호
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• pp.31-37
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• 2012

도로의 확장 및 신규 도로의 설치로 인하여 도로교통시설물의 변경 및 신규설치는 매년 꾸준히 증가하고 있다. 또한, 자동차 및 운전자의 증가와 함께 교통안전을 위한 도로 및 교통안전표지는 지속적인 증설과 관리가 요구된다. 도로 시설물 중 교통안전표지판을 신속하게 갱신하기 위하여 본 연구에서는 교통안전표지판에 대하여 자동인식기능을 개발하고 위치정확도를 분석하여 수치지형도의 도로시설물 효율적 갱신방안 제시를 목적으로 하였다. 이를 위하여 좌표측정을 위한 전방위 카메라 표정요소 산출, GPS/IMU/DMI 통합시스템 구축 및 영상처리기법을 적용하여 수치지형도의 도로시설물 DB의 효율적 갱신방법을 제시하였다.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2007년도 하계학술대회 논문집 Vol.8
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• pp.517-518
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• 2007

A method to recognize unpaved road region using a 3D depth measurement system is proposed for mobile robots. For autonomous maneuvering of mobile robots, recognition of obstacles or recognition of road region is the essential task. In this paper, the 3D depth measurement system which is composed of a rotating mirror, a line laser and mono-camera is employed to detect depth, where the laser light is reflected by the mirror and projected to the scene objects whose locations are to be determined. The obtained depth information is converted into an image. Such depth images of the road region represent even and plane while that of off-road region is irregular or textured. Therefore, the problem falls into a texture identification problem. Road region is detected employing a simple spatial differentiation technique to detect the plain textured area. Identification results of the diverse situation of Nonlinear trail are included in this paper.