• Journal of the Semiconductor & Display Technology
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• v.21 no.1
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• pp.22-26
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• 2022

This paper proposes a new method for the recognition of road surface marks and numbers. The proposed method designates a region of interest on the road surface without first detecting a lane. The road surface markings are extracted by location and size using a connection component analysis. Distortion due to the perspective effect is minimized by normalizing the size of the road markings. The road surface marking of the connected component is recognized by matching it with the stored road marking templates. The proposed method is implemented using C language in Raspberry Pi 4 system with a camera module for a real-time image processing. The system was fixedly installed in a moving vehicle, and it recorded a video like a vehicle black box. Each frame of the recorded video was extracted, and then the proposed method was tested. The results show that the proposed method is successful for the recognition of road surface marks and numbers.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.7
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• pp.107-116
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• 2014

This paper presents camera-based road surface marking detection methods suited to sensor fusion-based positioning system that consists of low-cost GPS (Global Positioning System), INS (Inertial Navigation System), EDM (Extended Digital Map), and vision system. The proposed vision system consists of two parts: lane marking detection and RSM (Road Surface Marking) detection. The lane marking detection provides ROIs (Region of Interest) that are highly likely to contain RSM. The RSM detection generates candidates in the regions and classifies their types. The proposed system focuses on detecting RSM without false detections and performing real time operation. In order to ensure real time operation, the gating varies for lane marking detection and changes detection methods according to the FSM (Finite State Machine) about the driving situation. Also, a single template matching is used to extract features for both lane marking detection and RSM detection, and it is efficiently implemented by horizontal integral image. Further, multiple step verification is performed to minimize false detections.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.1
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• pp.62-68
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• 2012

In this paper, a detection method of a pedestrian safety road marking was proposed. The proposed algorithm uses laser range and reflectivity of a range finder (LRF). For a detection of crosswalk marking and stop line, the DFT (Discrete Fourier Transform) of reflectivity and cross-correlation method between the reference replica and the measured reflectivity are used. A speed bump is detected through measuring an altitude difference of two LRFs which have the different tilted angle. Furthermore, we proposed a velocity constrained a detection method of a speed bump. Finally, the proposed methods are tested in on-line, on the pavement of a road. The considered road markings are wholly detected. The localization errors of both road markings are smaller than 0.4 meter.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.12
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• pp.1053-1060
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• 2016

As location recognition for autonomous vehicles develops, the need for a precise map for autonomous driving has increased. A precise map must be built based upon accurate position. Recent studies have accelerated research in this area by using various sensors that calculate the accurate position by comparing and recognizing objects around the roads. However, application of such methods is limited because these studies only take objects with significant verticality into consideration. Thus, new research is needed to overcome the limitations: a method that is not constrained by the existence of certain types of surrounding objects shall be proposed. Most roads contain road marking information, such as lanes, direction signs, and pedestrian crossings. Such information on the road surface is a valuable resource for building a precise map. This paper proposes a method of building a precise map by using road marking information.

• Journal of Broadcast Engineering
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• v.21 no.1
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• pp.87-96
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• 2016

Recently, there is a need for automatic recognition of a variety of symbols on roads because of activation of information services using digital maps on the Web or mobile devices. This paper proposes a method which automatically recognizes 11 kinds of symbolic road markings on the road surface with HOG-SP(Histogram of oriented Gradients-Split Projection) descriptor and shows improvement of lane position detection with recognized symbolic road markings. With the proposed method, recognition rate of 81.99% has been proven on NAVER road view images and the experiments proves the superiority of proposed method by comparisons with other existing methods. Moreover, this paper shows 7.64% higher lane position detection rate by recognizing road surface marking beforehand than only detecting lanes' positions.

• Current Optics and Photonics
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• v.3 no.5
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• pp.415-422
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• 2019

Retroreflection of vehicle headlights, as induced by spherical glass beads, is a key optical phenomenon that provides road-surface markings with greatly enhanced visibility, thus better securing a driver's safety in the nighttime as well as in unclear daytime. Retroreflectance of glass beads is a quite sensitive function of their refractive index, so that measurement of the refractive index of glass specifically in the shape of spherical beads needs to be performed within a reasonable uncertainty that is tolerable for road-marking applications. The Becke line method has been applied in assessing refractive index of such glass beads as e.g. an industrial standard in the Republic of Korea; however, the reference refractive-index liquids are not commercially available these days for refractive index greater than 1.80 due to the toxicity of the constituent materials. As such, high-refractive-index glass beads require an alternate method, and in this regard we propose a practically serviceable technique with uncertainty tantamount to that of the Becke line method: Based on comparison of calculated and measured retroreflectance values of commercial glass beads, we discover that their refractive index can be determined with reasonable precision via the retroreflectance measurement. Specifically, in this study the normalized retroreflectance originating from a single glass sphere is computed as a function of refractive index using the Fresnel equations, which is then validated as coinciding well with retroreflectance values measured from actual specimens, i.e. glass-bead aggregates. The uncertainties involved are delineated in connection with radius and imperfections of the glass beads.

• Current Optics and Photonics
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• v.3 no.5
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• pp.423-428
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• 2019

Visibility of road-surface markings is one of the critical issues that should be secured for self-driving cars as well as human drivers. Glass beads are taking on the role of retroreflectors, and therefore are considered a necessity in modern pavements. In this context, retroreflectance is sensitively dependent not only on the refractive index of glass beads but also on that of the surrounding medium. This implies that the optimum refractive index of glass beads immersed in water, i.e. under wet conditions, is different from that of glass beads surrounded by air, i.e. under dry conditions. A refractive index of approximately 1.9, which is known to maximize retroreflectance under dry conditions, actually exhibits much poorer retroreflectance under wet conditions. This suggests that glass beads with optimal refractive index for wet conditions need to be installed together with those for dry conditions. We propose a facile but practical model capable of calculating retroreflectance of glass beads surrounded by an arbitrary medium, here water in particular, and experimentally verify its capability of assessing the refractive index of commercial glass beads. Changes in retroreflectance according to the mixing ratio of glass beads with different refractive indices are also discussed, in an effort to propose the proper use of glass beads produced for dry and wet conditions.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.521-525
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• 2011

Lane marking detection is one of important issues in the field of autonomous mobile robot. Especially, in urban environment, like pavement roads of downtown or tour tracks of Science Park, which have continuous patterns on the surface of the road, the lane marking detection becomes more important ability. Although there were many researches about lane detection and lane tracing, many of them used vision sensors mainly to detect lane marking. In this paper, we obtain 2 dimensional library data of 'Intensity' and 'Distance' using one laser rangefinder only. We design a simple classifier and filtering algorithm for the lane detection which uses only one LRF (Laser Range Finder). Allowing extended usage of LRF, this research provides more functionality not only in range finding but also in lane detecting to mobile robots. This work will be technically helpful for robot developers to design more simple and efficient autonomous driving system using LRF.

• International Journal of Concrete Structures and Materials
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• v.10 no.1
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• pp.39-46
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• 2016

In this study, different proportions of glass beads used for road marking were added into the concrete samples to reduce the temperature gradient through the concrete pavement thickness. It is well known that decreasing the temperature gradient reduces the risk of thermal cracking and increases the service life of concrete pavement. The extent of alkali-silica reaction (ASR) produced with partial replacement of fine aggregate by glass bead was investigated and compressive strength of concrete samples with different proportion of glass bead in their mix designs were measured in this study. Ideal results were obtained with less than 0.850 mm diameter size glass beads were used (19 % by total weight of aggregate) for C30/37 class concrete. Top and bottom surface temperatures of two different C30/37 strength class concrete slabs with and without glass beads were measured. It was identified that, using glass bead in concrete mix design, reduces the temperature differences between top and bottom surfaces of concrete pavement. The study presented herein provides important results on the necessity of regulating concrete road mix design specifications according to regions and climates to reduce the temperature gradient values which are very important in concrete road design.

• Journal of Korean Society of Transportation
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• v.34 no.6
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• pp.489-498
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• 2016

The objective of this study is to develop road traffic accident model involving child pedestrian especially at school zones and its surrounding area. The analysis is based upon traffic accident data collected near sixty elementary schools in City of Cheongju during 2012 and 2014. This study results in two statistical models ; one is to predict the number of road traffic accidents involving children, and the other is to predict EPDO(Equivalent Prperty Damage Only). These models are represented as Poisson models. which are statistically significant with the likelihood ratios of 0.533 and 0.273. The common explanatory variables of these models are the ratio of road section with more than 4 lanes, the number of entrance and exit, the number of signalized crosswalk in school zone, the number of school zone signage including road surface marking, and the number of speed limit signs. The specific variables are the length of road stretch in school zone, the number of reflector mirrors, and the number of signalized crosswalk outside school zone. It is concluded that these types of road safety facilities can reduce the number of traffic accidents involving children at school zones and its surrounding area.