• Proceedings of the Korea Information Processing Society Conference
• /
• 2018.10a
• /
• pp.430-433
• /
• 2018

This paper proposes the Kalman filter (KF) with optical flow method to estimate the position and the velocity of unmanned aerial vehicles (UAVs) in the absence of global positioning system (GPS). A downward-looking camera, a gyroscope and an ultrasonic sensor are fused to compensate the measurement from optical-flow method. To overcome the problem of dealing with noise in onboard sensors, the KF is incorporated to efficiently predict the velocity and estimate the position. Basic mechanisms of optical flow and the KF are introduced and experiments are conducted to show how the techniques involved improve the estimations.

• Journal of Drive and Control
• /
• v.20 no.4
• /
• pp.92-99
• /
• 2023

Autonomous vehicles should recognize and respond to the specified speed to drive in compliance with regulations. To recognize the specified speed, the most representative method is to read the numbers of the signs by recognizing the speed signs in the front camera image. This study proposes a method that utilizes YOLO-Labeling-Labeling-EfficientNet. The sign box is first recognized with YOLO, and the numeric digit is extracted according to the pixel value from the recognized box through two labeling stages. After that, the number of each digit is recognized using EfficientNet (CNN) learned with the virtual environment dataset produced directly. In addition, we estimated the depth of information from the height value of the recognized sign through regression analysis. We verified the proposed algorithm using the virtual racing environment and GTSRB, and proved its real-time performance and efficient recognition performance.

• The Journal of the Korea Contents Association
• /
• v.14 no.9
• /
• pp.45-53
• /
• 2014

In this study, we analyzed the next generation ITS (C-ITS) technology trends, focusing on the national and international C-ITS projects. Based on the promotion practices of developed countries, we pointed out the lack of linkages with the existing ITS infrastructure. As a way to overcome this problem, we proposed the three-direction to enable the existing ITS infrastructure corresponding to the C-ITS. First one is developing a technique to improve the performance of the existing ITS infrastructure and automate the performance management (Performance-enhanced ITS). Second, developing active sensors or fusion sensor which along with V2X communication technology implement of an active safety driving support system (Safety-enhanced ITS). Third, we need to develop a technology that generate the new advanced traffic data by integrating the collected data from existing ITS infrastructure and nomadic device (Cloud-ITS). By improving the function of the existing ITS infrastructure for adaptation to the new V2X communication environment, we enhanced the efficiency of maintenance performance and would maximize the benefit of the introduction of C-ITS.

• The KIPS Transactions:PartC
• /
• v.15C no.4
• /
• pp.273-280
• /
• 2008

In WSN(Wireless Sensor Network) many routing algorithms such as LEACH, PEGASIS and PEDEP consisting of sensor nodes with limited energy have been proposed to extend WSN lifetime. Under the assumption of perfect fusion, these algorithms used convergecast that periodically collects sensed data from all sensor nodes to a base station. But because these schemes studied less energy consumption for a convergecast as well as fairly energy consumption altogether, the minimum energy consumption for a convergecast was not focused enough nor how topology influences to energy consumption. This paper deals with routing topology and energy consumption for a single convergecast in the following ways. We chose major WSN topology as MSC(Minimum Spanning Chain)s, MSTs, PEGASIS chains and proposed LECSEN chains. We solved the MSC length by Linear Programming(LP) and propose the LECSEN chain to compete with MST and MSC. As a result of simulation by Monte Carlo method for calculation of the topology length and standard deviation of link length, we learned that LECSEN is competitive with MST in terms of total energy consumption and shows the best with the view of even energy consumption at the sensor nodes. Thus, we concluded LECSEN is a very useful routing topology in WSN.

• Proceedings of the Korea Concrete Institute Conference
• /
• 2008.04a
• /
• pp.957-960
• /
• 2008

The purpose of this study is to explore a safe, advanced, and environment-friendly demolition equipments and their operation methods. As an initial achievement, the capacity of the existing equipments have been evaluated through technical discussions and demonstrations with some experts in the related industry. From these evaluations, it was concluded that a haptic based remote control with force feed-back mechanism and sensor fusion functions would be the most appropriate to the demolition equipments. Therefore, a novel haptic device that is adequately designed for the demolition equipments is proposed in this paper. Top-down demolition method is also proposed, which is very effective in the demolition of high-rise buildings.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.12 no.2
• /
• pp.865-871
• /
• 2011

Presently, the location and direction information are certainly needed for the autonomous vehicle of the ship. Among them, the direction information is a essential elements to automatic steering system. And the gyro-compass, the magnetic-compass and the GPS compass are the sensor indicating the direction. The gyro-compasses are mainly used in the large-sized ship of the GMDSS(Global Maritime Distress & Safety System). The precision and the reliability of the gyro-compasses are excellent but big volume and high price are disadvantage. The magnetic-compass has relatively fine precision and inexpensive price. However, the disadvantage is in the influence by the magnetism object including the steel structure of a ship, and etc. In the case of the GPS compass, the true north is indicated according to the change of the location information but in case of the minimum number of satellites or stopping of a ship or exercise in the error range, the exact direction cannot be obtained. In this paper, the performance of the GPS compass was improved by using the least-square curve fitting method for the mutual trade off of the angle sensor. The algorithm which improves the precision of an azimuth by applying the weighted value according to the size of covariance error was proposed with GPS-compass and magnetic compass. The characteristic and the performance of the proposed algorithm were analyzed and verified through experimentation. The applicability of the proposed algorithm was shown through the experimental result.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.1 no.1
• /
• pp.22-32
• /
• 2002

This paper describes about non-burial AVI (Automatic Vehicle Identification) system using general vehicle as probe car for obtaining more accurate traffic information while conserving road pavement surface. Existing spot traffic detectors have their own limits of not obtaining right information owing to its mathematical method. Burial AVI systems have some defects, causing traffic jam, needing much maintenance cost because of frequent cutting of loop and piezo-electric sensors. Especially, they have hard time to make right detection, when it comes to jamming time. Therefore, in this paper, we propose non-burial AVI system with laser trigger unit. Proposed non-burial AVI system is developed to obtain regional traffic information from normal Passing vehicle by automatic license number recognition technology. We have adapted it to national highway section between Suwon city and Pyong$\~$Taek city(9.5km) and get affirmative results. Vehicle detection rate of laser trigger unit is more than 95$\%$, vehicle recognition rate is 87.8$\%$ and vehicle matching rate is about 14.3$\%$. So we regard these as satisfying results to use the system for traffic information service. We evaluate proposed AVI system by regulation of some institutions which are using similar AVI system and the proposed system satisfies all conditions. For future study, we have plan of detailed research about proper lane number from all of the target lanes, optimal section length, information service period, and data fusion method for existing spot detector.