• KSCE Journal of Civil and Environmental Engineering Research
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• v.43 no.2
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• pp.231-238
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• 2023

Since there is a limit to the physically visible horizon that sensors for autonomous driving can perceive, complementary utilization of digital map data such as a Local Dynamic Map (LDM) along the probable route of an Autonomous Vehicle (AV) is proposed for safe and efficient driving. Although the amount of digital map data may be insignificant compared to the amount of information collected from the sensors of an AV, efficient management of map data is inevitable for the efficient information processing of AVs. The objective of this study is to analyze the efficiency of information use and information processing time of AV according to the expansion of the active section of LDM-based static road and traffic information. To carry out this objective, a microscopic simulator model, VISSIM and VISSIM COM, was employed, and an area of about 9 km × 13 km was selected in the Busan Metropolitan Area, which includes heterogeneous traffic flows (i.e., uninterrupted and interrupted flows) as well as various road geometries. In addition, the LDM information used in AVs refers to the real high-definition map (HDM) built on the basis of ISO 22726-1. As a result of the analysis, as the electronic horizon area increases, while short links are intensively recognized on interrupted urban roads and the sum of link lengths increases as well, the number of recognized links is relatively small on uninterrupted traffic road but the sum of link lengths is large due to a small number of long links. Therefore, this study showed that an efficient range of electronic horizon for HDM data collection, processing, and management are set as 600 m on interrupted urban roads considering the 12 links corresponding to three downstream intersections and 700 m on uninterrupted traffic road associated with the 10 km sum of link lengths, respectively.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.620-624
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• 2009

In this paper, we present a new camera system combining a high-quality 3-D scanner and hybrid camera system to generate a multiview video-plus-depth. In order to get the 3-D video using the hybrid camera system and 3-D scanner, we first obtain depth information for background region from the 3-D scanner. Then, we get the depth map for foreground area from the hybrid camera system. Initial depths of each view image are estimated by performing 3-D warping with the depth information. Thereafter, multiview depth estimation using the initial depths is carried out to get each view initial disparity map. We correct the initial disparity map using a belief propagation algorithm so that we can generate the high-quality multiview disparity map. Finally, we refine depths of the foreground boundary using extracted edge information. Experimental results show that the proposed depth maps generation method produces a 3-D video with more accurate multiview depths and supports more natural 3-D views than the previous works.

• Korean Journal of Remote Sensing
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• v.38 no.5_3
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• pp.939-951
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• 2022

The most important factor in designing autonomous driving systems is to recognize the exact location of the vehicle within the surrounding environment. To date, various sensors and navigation systems have been used for autonomous driving systems; however, all have limitations. Therefore, the need for high-definition (HD) maps that provide high-precision infrastructure information for safe and convenient autonomous driving is increasing. HD maps are drawn using three-dimensional point cloud data acquired through a mobile mapping system (MMS). However, this process requires manual work due to the large numbers of points and drawing layers, increasing the cost and effort associated with HD mapping. The objective of this study was to improve the efficiency of HD mapping by segmenting semantic information in an MMS point cloud into six classes: roads, curbs, sidewalks, medians, lanes, and other elements. Segmentation was performed using various machine learning techniques including random forest (RF), support vector machine (SVM), k-nearest neighbor (KNN), and gradient-boosting machine (GBM), and 11 variables including geometry, color, intensity, and other road design features. MMS point cloud data for a 130-m section of a five-lane road near Minam Station in Busan, were used to evaluate the segmentation models; the average F1 scores of the models were 95.43% for RF, 92.1% for SVM, 91.05% for GBM, and 82.63% for KNN. The RF model showed the best segmentation performance, with F1 scores of 99.3%, 95.5%, 94.5%, 93.5%, and 90.1% for roads, sidewalks, curbs, medians, and lanes, respectively. The variable importance results of the RF model showed high mean decrease accuracy and mean decrease gini for XY dist. and Z dist. variables related to road design, respectively. Thus, variables related to road design contributed significantly to the segmentation of semantic information. The results of this study demonstrate the applicability of segmentation of MMS point cloud data based on machine learning, and will help to reduce the cost and effort associated with HD mapping.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.20 no.5
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• pp.186-201
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• 2021

As autonomous driving technology advances, the accuracy of the vehicle position is important for recognizing the environments around driving. Map-matching localization techniques based on high definition (HD) maps have been studied to improve localization accuracy. Because conventional map-matching techniques estimate the vehicle position based on an HD map reference dataset representing the center of the lane, the estimated position does not reflect the deviation of the lateral distance within the lane. Therefore, this paper proposes a localization system based on the reference lateral position dataset extracted using image processing and HD maps. Image processing extracts the driving lane number using inverse perspective mapping, multi-lane detection, and yellow central lane detection. The lane departure method estimates the lateral distance within the lane. To collect the lateral position reference dataset, this approach involves two processes: (i) the link and lane node is extracted based on the lane number obtained from image processing and position from GNSS/INS, and (ii) the lateral position is matched with the extracted link and lane node. Finally, the vehicle position is estimated by matching the GNSS/INS local trajectory and the reference lateral position dataset. The performance of the proposed method was evaluated by experiments carried out on a highway environment. It was confirmed that the proposed method improves accuracy by about 1.0m compared to GNSS / INS, and improves accuracy by about 0.04m~0.21m (7~30%) for each section when compared with the existing lane-level map matching method.

• Journal of the Korea Safety Management & Science
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• v.14 no.4
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• pp.229-238
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• 2012

Within last 10 years, internet has become a daily activity, and humankind had to face the Data Deluge, a dramatic increase of digital data (Economist 2012). Due to exponential increase in amount of digital data, large scale data has become a big issue and hence the term 'big data' appeared. There is no official agreement in quantitative and detailed definition of the 'big data', but the meaning is expanding to its value and efficacy. Big data not only has the standardized personal information (internal) like customer information, but also has complex data of external, atypical, social, and real time data. Big data's technology has the concept that covers wide range technology, including 'data achievement, save/manage, analysis, and application'. To define the connected technology of 'big data', there are Big Table, Cassandra, Hadoop, MapReduce, Hbase, and NoSQL, and for the sub-techniques, Text Mining, Opinion Mining, Social Network Analysis, Cluster Analysis are gaining attention. The three features that 'bid data' needs to have is about creating large amounts of individual elements (high-resolution) to variety of high-frequency data. Big data has three defining features of volume, variety, and velocity, which is called the '3V'. There is increase in complexity as the 4th feature, and as all 4features are satisfied, it becomes more suitable to a 'big data'. In this study, we have looked at various reasons why companies need to impose 'big data', ways of application, and advanced cases of domestic and foreign applications. To correspond effectively to 'big data' revolution, paradigm shift in areas of data production, distribution, and consumption is needed, and insight of unfolding and preparing future business by considering the unpredictable market of technology, industry environment, and flow of social demand is desperately needed.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.39 no.6
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• pp.587-598
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• 2021

This study aims to develop a multi-camera based MMS (Mobile Mapping System) technology for building a HD (High Definition) map for autonomous driving and for quick update. To replace expensive lidar sensors and reduce long processing times, we intend to develop a low-cost and efficient MMS by applying multiple cameras and real-time data pre-processing. To this end, multi-camera storage technology development, multi-camera time synchronization technology development, and MMS prototype development were performed. We developed a storage module for real-time JPG compression of high-speed images acquired from multiple cameras, and developed an event signal and GNSS (Global Navigation Satellite System) time server-based synchronization method to record the exposure time multiple images taken in real time. And based on the requirements of each sector, MMS was designed and prototypes were produced. Finally, to verify the performance of the manufactured multi-camera-based MMS, data were acquired from an actual 1,000 km road and quantitative evaluation was performed. As a result of the evaluation, the time synchronization performance was less than 1/1000 second, and the position accuracy of the point cloud obtained through SFM (Structure from Motion) image processing was around 5 cm. Through the evaluation results, it was found that the multi-camera based MMS technology developed in this study showed the performance that satisfies the criteria for building a HD map.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.40 no.3
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• pp.239-247
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• 2022

Cities are becoming more complex due to rapid industrialization and population growth in modern times. In particular, urban areas are rapidly changing due to housing site development, reconstruction, and demolition. Thus accurate road information is necessary for various purposes, such as High Definition Map for autonomous car driving. In the case of the Republic of Korea, accurate spatial information can be generated by making a map through the existing map production process. However, targeting a large area is limited due to time and money. Road, one of the map elements, is a hub and essential means of transportation that provides many different resources for human civilization. Therefore, it is essential to update road information accurately and quickly. This study uses Semantic Segmentation algorithms Such as LinkNet, D-LinkNet, and NL-LinkNet to extract roads from drone images and then apply hyperparameter optimization to models with the highest performance. As a result, the LinkNet model using pre-trained ResNet-34 as the encoder achieved 85.125 mIoU. Subsequent studies should focus on comparing the results of this study with those of studies using state-of-the-art object detection algorithms or semi-supervised learning-based Semantic Segmentation techniques. The results of this study can be applied to improve the speed of the existing map update process.

• The Korean Journal of Emergency Medical Services
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• v.6 no.1
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• pp.77-86
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• 2002

The purposes of this research which was conducted by surveying lost/added unit hours reports, unit hour demand analysis worksheets from prehospital care reports of two squads in Kyonggi Provincial Fire and Disaster Headquarters for 20 weeks (January 1, 2002 - May 20, 2002) are to get Unit Hour Utilizations. Call Demands such as Unit Hour Demand, Simple Average Demand, High Average Demand, Peak Average Demand, the High Actual Demand. The conclusions from this analysis were summarized as follows: (1) By revealing Unit Hour Produced 3223.9, Call Volume 964, Unit Hour Utilization 0.299 at the Squad A and Unit Hour Produced 3328.4, Call Volume 901, Unit Hour Utilization 0.271 at the Squad B induced Korean Squads to chance identification, definition, direction of Unit Hour Utilization. (2) By revealing Simple Average Demand 7.4 on Monday Tuesday, High Average Demand 9.6 on Tuesday Friday. Peak Average Demand 11.5 on Tuesday, the High Actual Demand 12 on Tuesday Wednesday at the Squad A and Simple Average Demand 6.8 on Sunday, High Average Demand 10.4 on Monday, Peak Average Demand 11.5 on Monday, the High Actual Demand 13 on Monday at the Squad B enabled Korean Squads to utilize System Status Management. (3) The Maximum Calls per Unit Hour were 115 for 23:00~23:59, the Minimum Calls per Unit Hour were 46 for 05:00~05:49 in two squads. The Maximum Calls per Unit Hour were 7.4 on Tuesday Saturday, the Minimum Calls per Unit Hour were 6.1 on Thursday at the Squad A. The Maximum Calls per Unit Hour were 7.3 on Monday Saturday, the Minimum Calls per Unit Hour were 5.6 on Thursday at the Squad B. (4) Analyzing demand for EMTs in the optimum emergency medical service of Korea, we have been able to utilize this Unit Hour Utilization in company with the established estimation methods such as international comparisons or the number of ambulances for scientific reasonable estimation. (5) These Call Demands which were limited to the demand time in this study will make us expect some following studies including demand time, demand time, demand map for Strategic Deployment.

• Journal of the Korea Convergence Society
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• v.11 no.3
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• pp.19-26
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• 2020

In this paper, we propose a method to analyze the loss region of the dictionary-based super resolution result learned for image quality improvement and to map the learning data according to the analyzed loss region. In the conventional learned dictionary-based method, a result different from the feature configuration of the input image may be generated according to the learning image, and an unintended artifact may occur. The proposed method estimate loss information of low resolution images by analyzing the reconstructed contents to reduce inconsistent feature composition and unintended artifacts in the example-based super resolution process. By mapping the training data according to the final interpolation feature map, which improves the noise and pixel imbalance of the estimated loss information using a Gaussian-based kernel, it generates super resolution with improved noise, artifacts, and staircase compared to the existing super resolution. For the evaluation, the results of the existing super resolution generation algorithms and the proposed method are compared with the high-definition image, which is 4% better in the PSNR (Peak Signal to Noise Ratio) and 3% in the SSIM (Structural SIMilarity Index).

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.6
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• pp.819-824
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• 2021

As technologies related to image processing such as autonomous driving and CCTV develop, fog removal algorithms using a single image are being studied to improve the problem of image distortion. As a method of predicting fog density, there is a method of estimating the depth of an image by generating a depth map, and various fog features may be used as training data of the depth map. In addition, it is essential to implement a hardware capable of processing high-definition images in real time in order to apply the fog removal algorithm to actual technologies. In this paper, we implement NLCV (Normalize Local Coefficient of Variation), a feature of fog based on coefficient of variation, in hardware. The proposed hardware is an FPGA implementation of Xilinx's xczu7ev-2ffvc1156 as a target device. As a result of synthesis through the Vivado program, it has a maximum operating frequency of 479.616MHz and shows that real-time processing is possible in 4K UHD environment.