• Title/Summary/Keyword: LiDAR, Simulation

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Aerial Object Detection and Tracking based on Fusion of Vision and Lidar Sensors using Kalman Filter for UAV

  • Park, Cheonman;Lee, Seongbong;Kim, Hyeji;Lee, Dongjin
    • International journal of advanced smart convergence
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    • v.9 no.3
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    • pp.232-238
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    • 2020
  • In this paper, we study on aerial objects detection and position estimation algorithm for the safety of UAV that flight in BVLOS. We use the vision sensor and LiDAR to detect objects. We use YOLOv2 architecture based on CNN to detect objects on a 2D image. Additionally we use a clustering method to detect objects on point cloud data acquired from LiDAR. When a single sensor used, detection rate can be degraded in a specific situation depending on the characteristics of sensor. If the result of the detection algorithm using a single sensor is absent or false, we need to complement the detection accuracy. In order to complement the accuracy of detection algorithm based on a single sensor, we use the Kalman filter. And we fused the results of a single sensor to improve detection accuracy. We estimate the 3D position of the object using the pixel position of the object and distance measured to LiDAR. We verified the performance of proposed fusion algorithm by performing the simulation using the Gazebo simulator.

Deep Learning Based Gray Image Generation from 3D LiDAR Reflection Intensity (딥러닝 기반 3차원 라이다의 반사율 세기 신호를 이용한 흑백 영상 생성 기법)

  • Kim, Hyun-Koo;Yoo, Kook-Yeol;Park, Ju H.;Jung, Ho-Youl
    • IEMEK Journal of Embedded Systems and Applications
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    • v.14 no.1
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    • pp.1-9
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    • 2019
  • In this paper, we propose a method of generating a 2D gray image from LiDAR 3D reflection intensity. The proposed method uses the Fully Convolutional Network (FCN) to generate the gray image from 2D reflection intensity which is projected from LiDAR 3D intensity. Both encoder and decoder of FCN are configured with several convolution blocks in the symmetric fashion. Each convolution block consists of a convolution layer with $3{\times}3$ filter, batch normalization layer and activation function. The performance of the proposed method architecture is empirically evaluated by varying depths of convolution blocks. The well-known KITTI data set for various scenarios is used for training and performance evaluation. The simulation results show that the proposed method produces the improvements of 8.56 dB in peak signal-to-noise ratio and 0.33 in structural similarity index measure compared with conventional interpolation methods such as inverse distance weighted and nearest neighbor. The proposed method can be possibly used as an assistance tool in the night-time driving system for autonomous vehicles.

BUILDING EXTRACTION FROM LIDAR DATA USING DEVIRED NORMALIZE DIGITAL SURFACE MODEL

  • Nguyen, Dinh-Tai;Lee, Seung-Ho;Cho, Hyun-Kook;Kim, Cheon
    • Proceedings of the KSRS Conference
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    • 2009.03a
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    • pp.286-290
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    • 2009
  • In recent years, LiDAR technology has been becoming more popular and important. Its applications are completely replacing the traditional remote sensing technique. One of these applications is creating Digital City Models in urban areas, which is essential for many others such as disaster management, cartographic mapping, simulation of new buildings, updating and keeping cadastral data. In most of these cases the building outlines is the primary feature of interest. In this paper, a method of extracting building outlines from LiDAR data will be performed.

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Segmentation of Seabed Points from Airborne Bathymetric LiDAR Point Clouds Using Cloth Simulation Filtering Algorithm (항공수심라이다 데이터 해저면 포인트 클라우드 분리를 위한 CSF 알고리즘 적용에 관한 연구)

  • Lee, Jae Bin;Jung, Jae Hoon;Kim, Hye Jin
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.38 no.1
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    • pp.1-9
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    • 2020
  • ABL (Airborne Bathymetric LiDAR) is an advanced survey technology that uses green lasers to simultaneously measure the water depths and oceanic topography in coastal and river areas. Seabed point cloud extraction is an essential prerequisite to further utilizing the ABL data for various geographic data processing and applications. Conventional seabed detection approaches often use return waveforms. However, their limited accessibility often limits the broad use of the bathymetric LiDAR (Light Detection And Ranging) data. Further, it is often questioned if the waveform-based seabed extraction is reliable enough to extract seabed. Therefore, there is a high demand to extract seabed from the point cloud using other sources of information, such as geometric information. This study aimed to assess the feasibility of a ground filtering method to seabed extraction from geo-referenced point cloud data by using CSF (Cloth Simulation Filtering) method. We conducted a preliminary experiment with the RIGEL VQ 880 bathymetric data, and the results show that the CSF algorithm can be effectively applied to the seabed point segmentation.

3D Visualization of Forest Information Using LiDAR Data and Forest Type Map (LiDAR 데이터와 임상도를 이용한 산림정보의 3차원 시각화)

  • Bang, Eun-Gil;Yoon, Dong-Hyun;Koh, June-Hwan
    • Spatial Information Research
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    • v.22 no.5
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    • pp.53-63
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    • 2014
  • As recent interest in ecological resources increases, an effort in three-dimensional visualization of the ecological resources has increased for the restoration and preservation of the natural environment as well as the evaluation of the landscape. However, in the case of forest resources, information extraction has been active, but the effort in trying to apply that information into an effective visualization has not happened. In other words, the effort for effective visualization is lacking when it comes to the visualization of forest resources, and numerous cases are ether non-realistic or the simulation required for analysis is inappropriate. Therefore, this paper extracts information through the use of airborne LiDAR data, aerial photograph, and forest type maps to create a vegetation layer, and then uses Flora3D forest modeling tools and ArcGlobe to accurately visualize the vegetation layer into the three dimension. An effective application for restoration and preservation of ecological resources as well as analysis on the urban landscape can be considered as a result of intuitively and realistically enabling the user's awareness of forest information within the Geographic Information System.

GIS-Based Analysis of the Debris Flow Occurrence Possibility Using an Airborne LiDAR DEM around Pyeongchang-Gun, Kangwon-Do (항공라이다 DEM을 이용한 강원도 평창군 일원의 GIS 기반의 토석류 발생가능성 분석)

  • Lee, In-Ji;Lee, Dong-Ha;Suh, Yong-Cheol
    • Journal of the Korean Association of Geographic Information Studies
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    • v.13 no.4
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    • pp.50-66
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    • 2010
  • In this study, we performed a GIS-based debris flow simulation using the high-resolution airborne LiDAR DEM in order to establish the effective and resonable debris prevention plans in Korea. To do so, we set a study area to an specific region over Pyeochang-gun in Kangwon-do which showed the extreme rugged distribution of topography and simulated a possibility of debris flow occurrence in this area using a GIS-based numerical simulation program which was developed by applying the finite difference method. After that, we also performed the debris flow simulation by SINMAP and geomorphic analysis method in the same region and compared each result with that of GIS-based debris simulation for verifying the reliability.

Dilution of Precision (DOP) Based Landmark Exclusion Method for Evaluating Integrity Risk of LiDAR-based Navigation Systems

  • Choi, Pil Hun;Lee, Jinsil;Lee, Jiyun
    • Journal of Positioning, Navigation, and Timing
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    • v.9 no.3
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    • pp.285-292
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    • 2020
  • This paper introduces a new computational efficient Dilution of Precision (DOP)-based landmark exclusion method while ensuring the safety of the LiDAR-based navigation system that uses an innovation-based Nearest-Neighbor (NN) Data Association (DA) process. The NN DA process finds a correct landmark association hypothesis among all potential landmark permutations using Kalman filter innovation vectors. This makes the computational load increases exponentially as the number of landmarks increases. In this paper, we thus exclude landmarks by introducing DOP that quantifies the geometric distribution of landmarks as a way to minimize the loss of integrity performance that can occur by reducing landmarks. The number of landmarks to be excluded is set as the maximum number that can satisfy the integrity risk requirement. For the verification of the method, we developed a simulator that can analyze integrity risk according to the landmark number and its geometric distribution. Based on the simulation, we analyzed the relationship between DOP and integrity risk of the DA process by excluding each landmark. The results showed a tendency to minimize the loss of integrity performance when excluding landmarks with poor DOP. The developed method opens the possibility of assuring the safety risk of the Lidar-based navigation system in real-time applications by reducing a substantial amount of computational load.

A Study on the Application Technique of 3-D Spatial Information by integration of Aerial photos and Laser data (항공사진과 레이져 데이터의 통합에 의한 3 차원 공간정보 활용기술연구)

  • Yeon, Sang-Ho
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.28 no.3
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    • pp.385-392
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    • 2010
  • A LiDAR technique has the merits that survey engineers can get a large number of measurements with high precision quickly. Aerial photos and satellite sensor images are used for generating 3D spatial images which are matched with the map coordinates and elevation data from digital topographic files. Also, those images are used for matching with 3D spatial image contents through perspective view condition composed along to the designated roads until arrival the corresponding location. Recently, 3D aviation image could be generated by various digital data. The advanced geographical methods for guidance of the destination road are experimented under the GIS environments. More information and access designated are guided by the multimedia contents on internet or from the public tour information desk using the simulation images. The height data based on LiDAR is transformed into DEM, and the real time unification of the vector via digital image mapping and raster via extract evaluation are transformed to trace the generated model of 3-dimensional downtown building along to the long distance for 3D tract model generation.

A Study on the Integration of Airborne LiDAR and UAV Data for High-resolution Topographic Information Construction of Tidal Flat (갯벌지역 고해상도 지형정보 구축을 위한 항공 라이다와 UAV 데이터 통합 활용에 관한 연구)

  • Kim, Hye Jin;Lee, Jae Bin;Kim, Yong Il
    • Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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    • v.38 no.4
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    • pp.345-352
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    • 2020
  • To preserve and restore tidal flats and prevent safety accidents, it is necessary to construct tidal flat topographic information including the exact location and shape of tidal creeks. In the tidal flats where the field surveying is difficult to apply, airborne LiDAR surveying can provide accurate terrain data for a wide area. On the other hand, we can economically obtain relatively high-resolution data from UAV (Unmanned Aerial Vehicle) surveying. In this study, we proposed the methodology to generate high-resolution topographic information of tidal flats effectively by integrating airborne LiDAR and UAV point clouds. For the purpose, automatic ICP (Iterative Closest Points) registration between two different datasets was conducted and tidal creeks were extracted by applying CSF (Cloth Simulation Filtering) algorithm. Then, we integrated high-density UAV data for tidal creeks and airborne LiDAR data for flat grounds. DEM (Digital Elevation Model) and tidal flat area and depth were generated from the integrated data to construct high-resolution topographic information for large-scale tidal flat map creation. As a result, UAV data was registered without GCP (Ground Control Point), and integrated data including detailed topographic information of tidal creeks with a relatively small data size was generated.

Comparison of Terrain Changes in Debris Flow-Damaged Area and Morpho2DH Model Results (토석류 피해지의 지형 변화와 Morpho2DH 모형 결과의 비교 분석)

  • Jong-Seo Lee;Kwang-Youn Lee;Suk-Hee Yoon;Dong-Hyun Kim;Sang Ho Lee;Se-Wook Oh;Dong-Geun Kim
    • Journal of Korean Society of Forest Science
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    • v.113 no.3
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    • pp.339-348
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    • 2024
  • Debris flow is a typical type of mountainous sediment disaster that can cause widespread damage to both lives and property, making it essential to understand its behavioral characteristics for effective prevention. In this study, pre- and post-event Light Detection And Ranging(LiDAR) data from the Dosan-ri area in Bonghyeon-myeon, Yeongju-si, Gyeongsangbuk-do, Republic of Korea where debris flows occurred in 2023, were used to calculate the actual affected area and terrain change volume caused by the debris flow. These calculated values were then compared with those derived from the numeric simulation model, Morpho2DH, based on field surveys and laboratory investigation data. Additionally, the model's applicability was assessed by conducting cross-sectional elevation analyses based on the extent of the affected area and comparisons of the results. The findings indicate that the debris flow affected area and terrain change volume estimated by the Morpho2DH model were approximately 152% and 178% higher, respectively, compared to the LiDAR-based results. Pearson correlation analysis of the cross-sectional elevation changes showed a positive correlation, with Pearson Correlation Coefficients(PCC) of at least 0.65