• Journal of the Korea Society of Computer and Information
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• v.27 no.6
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• pp.23-31
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• 2022

Due to the recent outbreak of COVID-19 and an aging population and an increase in single-person households, the amount of time that household members spend doing various activities at home has increased significantly. In this study, we propose an algorithm for detecting anomalies in members of single-person households, including the elderly, based on the results of human movement and fall detection using an image sensor algorithm through home CCTV, an activity sensor algorithm using an acceleration sensor built into a smartphone, and a 2D LiDAR sensor-based LiDAR sensor algorithm. However, each single sensor-based algorithm has a disadvantage in that it is difficult to detect anomalies in a specific situation due to the limitations of the sensor. Accordingly, rather than using only a single sensor-based algorithm, we developed a fusion method that combines each algorithm to detect anomalies in various situations. We evaluated the performance of algorithms through the data collected by each sensor, and show that even in situations where only one algorithm cannot be used to detect accurate anomaly event through certain scenarios we can complement each other to efficiently detect accurate anomaly event.

• Journal of Cadastre & Land InformatiX
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• v.50 no.2
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• pp.69-79
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• 2020

TRecently, smart cities that solve various problems in cities based on IoT technology are in the spotlight. In particular, cases of BIM application for smooth management of construction and maintenance are increasing, and spatial information is converted into 3D data through convergence technology and used for safety diagnosis. The purpose of this study is to create and combine point clouds of a multi-story building by using a ground laser scanner and a handheld LiDAR SLAM among UAV and LiDAR equipment, supplementing the Occluded area and disadvantages of each technology, examine the effectiveness of indoor and outdoor reverse design by observing shape reproduction and accuracy. As a result of the review, it was confirmed that the coordinate accuracy of the data was improved by creating and combining the indoor and outdoor point clouds of the multi-story building using three technologies. In particular, by supplementing the shortcomings of each technology, the completeness of the shape reproduction of the building was improved, the Occluded area and boundary were clearly distinguished, and the effectiveness of reverse engineering was verified.

• Journal of Korean Society for Geospatial Information Science
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• v.18 no.2
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• pp.113-118
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• 2010

Recently, 3D-reconstruction for geographic information and study of geospatial information is progressing in various fields through national policy such as R&D business and pilot project. LiDAR system has a advantage of acquisition the 3D information data easily and densely so that is used in many different fields. Considering to characterist of the point data formed with 3D, it need a high specification CPU because it requires a number of processing operation for 2D form expressed by monitor. In contrast, 2D grid structure, like DEM, has a advantage on costs because of simple structure and processing speed. Therefore, purpose of this study is to solve the problem of requirement of more storage space, when LiDAR data stored in forms of 3D is used for 3D-geographic and 3D-buliding representation. Additionally, This study reconstitutes 2D-gird data to supply the representation data of 3D-geographic and presents the storage method which is available for detailed representation applying tree-structure and reduces the storage space.

• Proceedings of the Korea Contents Association Conference
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• 2007.11a
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• pp.27-29
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• 2007

The visual implementation of 3-dimensional national environment is focused by the requirement and importance in the fields such as, national development plan, telecommunication facility deployment plan, railway construction, construction engineering, spatial city development, safety and disaster prevention engineering. The currently used DEM system using contour lines, which embodies national geographic information based on the 2-D digital maps and facility information has limitation in implementation in reproducing the 3-D spatial city. Moreover, this method often neglects the altitude of the rail way infrastructure which has narrow width and long length. There it is needed to apply laser measurement technique in the spatial target object to obtain accuracy. Currently, the LiDAR data which combines the laser measurement skill and GPS has been introduced to obtain high resolution accuracy in the altitude measurement. In this paper, we first investigate the LiDAR based researches in advanced foreign countries, then we propose data a generation scheme and an algorithm for the optimal manage and synthesis of railway facility system in our 3-D spatial terrain information. For this object, LiDAR based height data transformed to DEM, and the realtime unification of the vector via digital image mapping and raster via exactness evaluation is transformed to make it possible to trace the model of generated 3-dimensional railway model with long distance for 3D tract model generation.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.20 no.2
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• pp.127-136
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• 2002

DEM(Digital Elevation Model) is used widely in image processing, water resources, construction, GIS, landscape architecture, telecommunication, military operations and other related areas. And it is used especially in producing ortho-photo based on specific DEM and developing 3D GIS database vividly. As LiDAR(Light and Detection And Ranging) system emerged recently, DEM could be developed in urban area more efficiently and more economically, compared to the conventional DEM Production. Traditional method using check points for elevation has tome limitations in structure's height accuracy by LiDAR, because it uses only terrain height. Accordingly after the downtown of Chungju city was selected as a test field in this paper and DEM and digital ortho images was produced by way of LiDar survey, the accuracy was evaluated through analytical plotting map. The result shows that in case of buildings in LiDAR DEM, the accuracy is 0.30 m in X, 0.62 m in Y and RMS is 1.17 m. The difference distribution between DEM and plotting map in range of $\pm$10 cm was 36.2% and $\pm$10 cm $\pm$20 cm was 43.53%. The accuracy of LiDAR in this study meets 1/5,000 which is the regulation for map of NGI(National Geography Institute) and LiDAR can be possibly used in many other applied area.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.8 no.1
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• pp.47-52
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• 2008

The visual implementation of 3-dimensional national environment is focused by the requirement and importance in the fields such as, urban planing, telecommunication facility deployment plan, railway construction, construction engineering, spatial city development, safety and disaster prevention engineering. The currently used DEM system based on the 2-D digital maps and contour lines has limitation in implementation in reproducing the 3-D spatial city. Currently, the LiDAR data which combines the laser and GPS skill has been introduced to obtain high resolution accuracy in the altitude measurement in the advanced country. In this paper, we first introduce the LiDAR based researches in advanced foreign countries, then we propose the data generation scheme and an solution algorithm for the optimal management of our 3-D spatial u-City construction. For this purpose, LiDAR based height data transformed to DEM, and the realtime unification of the vector via digital image mapping and raster via exactness evaluation is transformed to make it possible to trace the model of generated 3-dimensional model with long distance for 3D u-city model generation.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.1
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• pp.36-43
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• 2021

In this research, the accuracy of YOLO v3 algorithm in object detection during AGV (Automated Guided Vehicle) operation was investigated. First of all, AGV with 2D LiDAR and stereo camera was prepared. AGV was driven along the route scanned with SLAM (Simultaneous Localization and Mapping) using 2D LiDAR while front objects were detected through stereo camera. In order to evaluate the accuracy of YOLO v3 algorithm, recall, AP (Average Precision), and mAP (mean Average Precision) of the algorithm were measured with a degree of machine learning. Experimental results show that mAP, precision, and recall are improved by 10%, 6.8%, and 16.4%, respectively, when YOLO v3 is fitted with 4000 training dataset and 500 testing dataset which were collected through online search and is trained additionally with 1200 dataset collected from the stereo camera on AGV.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.3
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• pp.259-268
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• 2012

This paper aims to estimate the carbon dioxide stocks in forests using airborne LiDAR data with a density of approximate 4.4 points per meter square. To achieve this goal, a processing chain consisting of bare earth Digital Terrain Model(DTM) extraction and individual tree top detection has been developed. As results of this experiment, the reliable DTM with type-II errors of 3.32% and tree positions with overall accuracy of 66.26% were extracted in the study area. The total estimated carbon dioxide stocks in the study area using extracted 3-D forests structures well suited with the traditional method by field measurements upto 7.2% error level. This results showed that LiDAR technology is highly valuable for replacing the existing forest resources inventory.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.346-351
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• 2023

With the release of numerous open driving datasets, the demand for domain adaptation in perception tasks has increased, particularly when transferring knowledge from rich datasets to novel domains. However, it is difficult to solve the change 1) in the sensor domain caused by heterogeneous LiDAR sensors and 2) in the environmental domain caused by different environmental factors. We overcome domain differences in the semi-supervised setting with 3-stage model parameter training. First, we pre-train the model with the source dataset with object scaling based on statistics of the object size. Then we fine-tine the partially frozen model weights with copy-and-paste augmentation. The 3D points in the box labels are copied from one scene and pasted to the other scenes. Finally, we use the knowledge distillation method to update the student network with a moving average from the teacher network along with a self-training method with pseudo labels. Test-Time Augmentation with varying z values is employed to predict the final results. Our method achieved 3rd place in ECCV 2022 workshop on the 3D Perception for Autonomous Driving challenge.

• Journal of the Korea Society of Computer and Information
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• v.19 no.9
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• pp.1-10
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• 2014

In this paper, we propose MPI gridding algorithm of LiDAR data that minimizes the communication between the cores. The LiDAR data collected from aircraft is a 3D spatial information which is used in various applications. Since there are many cases where the LiDAR data has too high resolution than actually required or non-surface information is included in the data, filtering the raw LiDAR data is required. In order to use the filtered data, the interpolation using the data structure to search adjacent locations is conducted to reconstruct the data. Since the processing time of LiDAR data is directly proportional to the size of it, there have been many studies on the high performance parallel processing system using MPI. However, previously proposed methods in parallel approach possess possible performance degradations such as imbalanced data size among cores or communication overhead for resolving boundary condition inconsistency. We conduct empirical experiments to verify the effectiveness of our proposed algorithm. The results show that the total execution time of the proposed method decreased up to 4.2 times than that of the conventional method on heterogeneous clusters.