• International conference on construction engineering and project management
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• 2015.10a
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• pp.669-670
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• 2015

Efficient management of the construction heavy equipment is required to reduce the rate of carbon emissions and on-site accidents. The intelligent excavation system (IES) will improve the construction quality and productivity through information technologies and efficient equipment operation, especially in large earthwork projects. Three-dimensional digitized ground data should be required for identifying the path of heavy equipment and work-site environment. Rapid development of terrain laser scanners (TLS) is more readily to acquire the digital data. This study suggests the '3D ground terrain processing platform (3DGTPP)' including data manipulating module and analyzing module of the scanned data for intelligent earthmoving equipment operation. The processing platform consists of six modules, including scanning, registering, manipulating, analyzing, transmitting, and storing. 3D ground terrain processing platform presented in this study will provide fundamental information for intelligent excavation system (IES), which will increase the efficiency of earthworks and safety of workers in significant.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.1
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• pp.621-626
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• 2021

In this study, data on the study site for apartment construction was acquired, and the quantity of construction waste was calculated using a drone and mobile 3D laser scanner. The accuracy of the drone was 0.034 to 0.064m in the horizontal and vertical directions, respectively, and the mobile 3D Laser Scanner showed an accuracy of 0.018 to 0.049m in the horizontal direction, respectively. These results suggest that it is possible to construct spatial information using a drone and mobile 3D laser scanner with a value within the allowable accuracy of 1:1,000 digital terrain. The volume of construction waste calculated using the mobile 3D laser scanner data was 70,797㎥. It was possible to calculate the volume on the side of the building or some facilities that appeared as shaded areas in the drone outcomes. In addition, modeling was performed for view analysis of the apartments scheduled to be constructed and the terrain-based modeling results of the surrounding buildings. In the future, data construction and accuracy evaluation using mobile 3D laser scanners will be conducted. In addition, additional research comparing existing methods and work processes will be carried out, and the efficiency of mobile 3D laser scanners in the field of spatial information construction can be presented.

• Korean Journal of Construction Engineering and Management
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• v.12 no.6
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• pp.130-141
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• 2011

The intelligent excavating system(IES), the development in South Korea of which has been underway since 2006, aims for the full-scale automation of the excavation process that includes a series of tasks such as movement, excavation and loading. The core elements to ensure the quality and safety of the automated excavation equipment include 3D modeling of terrain that surrounds the excavating robot and the technology for detecting objects accurately(i.e., for detecting the location of nearby loading trucks and humans as well as of obstacles positioned on the movement paths). Therefore the purpose of this research is to ensure the quality and safety of automated excavation detecting the objects surrounding the excavating robot via a 3D laser scanning system. In this paper, an algorithm for estimating the location, height, width, and shape of objects in the 3D-realized terrain that surrounds the location of the excavator was proposed. The performance of the algorithm was verified via tests in an actual earthwork field.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.39 no.5
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• pp.343-349
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• 2021

In The process from design to construction in the existing construction work was less efficient due to the contradictory approach of identifying the 3D state in the plan view and the repeated generation of surveys, floor plans, drawings. Accurate 3D design data is essential for smart construction. However, most of the existing related studies have focused on explaining the development method and main functions of equipment or improving the productivity of smart construction. Therefore, in this study, the utility of 3D design model generation for smart construction and construction survey using 3D laser scanner was evaluated. Plane and vertical road alignment were created using the specifications of the road. The generated road alignment was created as a three-dimensional corridor design using cross-sections at intervals of 20m. In addition, it was possible to create a DTM (Digital Terrain Model) using a digital map and effectively create a 3D design model for the study area through overlapping. Construction survey using a 3D laser scanner showed accuracy within 10cm as a result of the accuracy evaluation. These results proved that construction surveying using a 3D laser scanner is possible because it satisfies the acceptable accuracy of the relevant regulations modeling of target areas using 3D design and construction survey using 3D laser scanner can be a way to address shortcomings of existing GNSS (Global Navigation Satellite System) methods. And accurate 3D data will be used as essential data as basic data for smart construction.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.2
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• pp.342-348
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• 2016

We propose an obstacle detection algorithm for unmanned ground vehicle on uneven terrain. The key ideas of the proposed algorithm are the use of two-layer laser range data to calculate the gradient of a target, which is characterized as either ground or obstacles. The proposed obstacle detection algorithm includes 4-steps: 1) Obtain the distance data for each angle from multiple lidars or a multi-layer scan lidar. 2) Calcualate the gradient for each angle of the uneven terrain. 3) Determine ground or obstacle for each angle on the basis of reference gradient. 4) Generate a new distance data for each angle for a virtual laser scanner. The proposed algorithm is verified by various experiments.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.5
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• pp.549-556
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• 2009

One of the basic technology for implementing the autonomy of UGV(Unmanned Ground Vehicle) is a path planning algorithm using obstacle and raw terrain information which are gathered from perception sensors such as stereo camera and laser scanner. In this paper, we propose a generation method of DVGM(Directional Velocity Grid Map) which have traverse speed of UGV for the five heading directions except the rear one. The fuzzy system is designed to generate a resonable traveling speed for DVGM from current patch to the next one by using terrain slope, roughness and obstacle information extracted from raw world model data. A simulation is conducted with world model data sampled from real terrain so as to verify the performance of proposed fuzzy inference system.

• The Journal of the Korea Contents Association
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• v.18 no.6
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• pp.303-313
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• 2018

The purpose of this study is digitalization of earthwork such as development of 3D terrain analysis platform using latest technologies including unmanned aerial vehicle and terrestrial laser scanner to ultimately achieve earthwork automation. It is necessary to develop related element technologies and to establish regulations so that it can be applied to the domestic construction projects. As a result of pilot project about the earthwork surveying automation technology, it was confirmed that information such as terrain coordinates, soil, boring, and excavation volume is acquired smoothly. In this paper, we investigate related regulations and manuals in Japan and propose the improvement plan of domestic regulation. We plan to study regulations from early to final construction stage, combine with the 'regulation for public surveying', and improve the regulations in detail.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2004.04a
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• pp.15-26
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• 2004

The calibration for systematic error in LiDAR is crucial for the accuracy of airborne laser scanning. The main error is the misalignment of platforms between INS(Inertial Navigation System) and Laser scanner For planimetrical calibration of LiDAR, the building is good feature which has great changes in height and continuous flat area in the top. The planimetry error(pitch, roll) is corrected by adjustment of height which is calculated from comparing ground control points(GCP) of building to laser scanning data. We can know scale correction of laser range by the comparison of LiDAR data and GCP is arranged at the end of scan angle where maximize the height error. The area for scale calibration have to be large flat and have almost same elevation. At 1000m for average flying height, The Accuracy of laser scanning data using LiDAR is within 110cm in height and ${\pm}$50cm in planmetry so we can use laser scanning data for generating 3D terrain surface, expecically digital surface model(DSM) which is difficult to measure by aerial photogrammetry in forest, coast, urban area of high buildings

• Journal of Korea Game Society
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• v.10 no.6
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• pp.157-168
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• 2010

A terrain is an essential element for constructing a virtual world in which game characters and objects make various interactions with one another. Creating a terrain requires a great deal of time and repetitive editing processes. This paper presents a 3D terrain reconstruction system to create 3D terrain in virtual space based on real terrain data. In this system, it converts the coordinate system of the height maps which are generated from a stereo camera and a laser scanner from global GPS into 3D world using the x and z axis vectors of the global GPS coordinate system. It calculates the movement vectors and the rotation matrices frame by frame. Terrain meshes are dynamically generated and rendered in the virtual areas which are represented in an undirected graph. The rendering meshes are exactly created and updated by correcting terrain data errors. In our experiments, the FPS of the system was regularly checked until the terrain was reconstructed by our system, and the visualization quality of the terrain was reviewed. As a result, our system shows that it has 3 times higher FPS than other terrain management systems with Quadtree for small area, improves 40% than others for large area. The visualization of terrain data maintains the same shape as the contour of real terrain. This system could be used for the terrain system of realtime 3D games to generate terrain on real time, and for the terrain design work of CG Movies.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.6
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• pp.733-742
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• 2017

LADARs are used for important sensors in various applications, for example, terrain information sensors in self driving cars, safety sensors for factory automation, and 3D map constructions. This study develop important component technologies to improve the performance of a LADAR system under development in Korea. The component technologies include diode temperature regulation, reducing distance error in outdoor environment, and signal processing technique for better detection of distant objects. This paper explains the suggested component technologies and experimental results of the developed LADAR system. Also, the developed system is operated and tested an a single axis driving platform to acquire 3D information from 2D LADAR.