• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.38 no.4
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• pp.383-390
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• 2020

Car-mounted MMS (Mobile Mapping System) is the most effective tool for mapping of high definition road maps(HD Map). The MMS is composed of various sensor combinations, and the manufacturing methods and processing software are different for each manufacturer, performance cannot be predicted only by the specifications of the parts. Therefore, it is necessary to judge whether each equipment is suitable for mapping through performance evaluation, and facilities for periodic performance evaluation. In this paper, we explained the MMS performance evaluation facilities built at the SOC Evaluation Research Center of Korea Institute of Civil Engineering and Building Technology and analyzed the conditions that the evaluation facilities should have through a literature survey and field tests.

• Proceedings of the Korea Contents Association Conference
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• 2008.05a
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• pp.449-452
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• 2008

The building heights of big cities which charged with most space are 3-D information as relative vertical distance from ground control points, but they didn't know the heights using contour with maps as lose of skyline or building heights for downtown, practically continuously developed of many technology methods for implementation of 3-D spatial earth. So, For the view as stereos of variety earth form generated 3-D spatial and made terrain perspective map, 3-D simulated of regional and urban space as aviation images. In this papers, it composited geospatial informations and images by DEM generation, and developed and presented for techniques overlay of CAD data and photos captured at our surroundings uses. Particularly, The airborne LiDAR surveying which are very interesting trend have laser scanning sensor and determine the ground heights through detecting angle and range to the grounds, and then designated 3-D spatial composite and simulation from urban areas. Therefore in this papers are suggested ease selections on the users situation by compare as various simulations that its generation of 3-D spatial image by collective for downtown space and urban sub, and the implementation methods for more accurate, more select for the best images.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.10
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• pp.326-331
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• 2019

In the real world, there are both dynamic objects and static objects, but an autonomous vehicle or mobile robot cannot distinguish between them, even though a human can distinguish them easily. It is important to distinguish static objects from dynamic objects clearly to perform autonomous driving successfully and stably for an autonomous vehicle or mobile robot. To do this, various sensor systems can be used, like cameras and LiDAR. Stereo camera images are used often for autonomous driving. The stereo camera images can be used in object recognition areas like object segmentation, classification, and tracking, as well as navigation areas like 3D world reconstruction. This study suggests a method to distinguish static/dynamic objects using stereo vision for an online autonomous vehicle and mobile robot. The method was applied to a 3D world map reconstructed from stereo vision for navigation and had 99.81% accuracy.

• Journal of the Korean Institute of Gas
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• v.25 no.5
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• pp.57-62
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• 2021

Gas is an energy source widely used in general households and industrial sites, and is also a process material widely used in petrochemical and semiconductor processes. However, while it is easy to use, it can cause large-scale human damage due to leakage, explosion, and human inhalation. Therefore, a gas facility safety management solution that can be safely used at home and industrial sites is essential. In particular, the need to develop advanced gas safety solutions is emerging as gas facilities are aging. In this paper, a technology was developed to measure the presence and concentration of gas leaks from a distance by irradiating photons, the minimum energy unit that can no longer be divided into gas facilities, and analyzing the number of reflected photons. This overcomes technical limitations such as short detection distance and inability to detect fine leaks, which are the limitations of conventional electric/chemical gas sensors or infrared-based gas leak detectors.

• Proceedings of the Korea Water Resources Association Conference
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• 2022.05a
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• pp.88-88
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• 2022

하천법 개정 및 수자원의 조사·계획 및 관리에 관한 법률 제정으로 하상변동조사를 정기적으로 실시하는 것이 의무화 되었고, 지자체가 계획적으로 수자원을 관리할 수 있도록 제도가 마련되고 있다. 하상의 지형측량은 직접 측량할 수 없기 때문에 수심 측량을 통해 간접적으로 이루어지고 있으며, 그 방법은 레벨측량이나 음향측심기를 활용한 접촉식으로 이루어지고 있다. 접촉식 수심측량법은 자료수집이 제한적이기 때문에 공간해상도가 낮고 연속적인 측량이 불가능하다는 한계가 있어 최근에는 LiDAR나 초분광영상을 이용한 원격탐사를 이용한 수심측정 기술이 개발되고있다. 개발된 초분광영상을 이용한 수심측정 기술은 접촉식 조사보다 넓은 지역을 조사할 수 있고, 잦은 빈도로 자료취득이 용이한 드론에 경량 초분광센서를 탑재하여 초분광영상을 취득하고, 최적 밴드비 탐색 알고리즘을 적용해 수심맵 산정이 가능하다. 기존의 초분광 원격탐사 기법은 드론의 경로비행으로 획득한 초분광영상을 면단위의 영상으로 정합한 후 특정 물리량에 대한 분석이 수행되었으며, 수심측정의 경우 모래하천을 대상으로 한 연구가 주를 이루었으며, 하상재료에 대한 평가는 이루어지지 않았었다. 본 연구에서는 기존의 초분광영상을 활용한 수심산정 기법을 식생이 있는 하천에 적용하고, 동일지역에서 식생을 제거한 후의 2가지 케이스에 대해서 시공간(Spatio-temporal)초분광영상과 단면초분광영상에 모두 적용해 보았다. 연구결과, 식생이 없는 경우의 수심산정이 더 높은 정확도를 보였으며, 식생이 있는 경우에는 식생의 높이를 바닥으로 인식한 수심이 산정되었다. 또한, 기존의 단면초분광영상을 이용한 수심산정뿐만 아니라 시공간 초분광영상에서도 수심산정의 높은 정확도를 보여 시공간 초분광영상을 활용한 하상변동(수심변동) 추적의 가능성을 확인하였다.

• Journal of the Society of Naval Architects of Korea
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• v.61 no.3
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• pp.143-151
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• 2024

In this study, we present a mapping framework for 3D spatial reconstruction of digital twin model using navigation and perception sensors mounted on an Autonomous Surface Vehicle (ASV). For improving the level of realism of digital twin models, 3D spatial information should be reconstructed as a digitalized spatial model and integrated with the components and system models of the ASV. In particular, for the 3D spatial reconstruction, color and 3D point cloud data which acquired from a camera and a LiDAR sensors corresponding to the navigation information at the specific time are required to map without minimizing the noise. To ensure clear and accurate reconstruction of the acquired data in the proposed mapping framework, a image preprocessing was designed to enhance the brightness of low-light images, and a preprocessing for 3D point cloud data was included to filter out unnecessary data. Subsequently, a point matching process between consecutive 3D point cloud data was conducted using the Generalized Iterative Closest Point (G-ICP) approach, and the color information was mapped with the matched 3D point cloud data. The feasibility of the proposed mapping framework was validated through a field data set acquired from field experiments in a inland water environment, and its results were described.

• 한국공간정보시스템학회:학술대회논문집
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• 2007.06a
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• pp.268-272
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• 2007

현재 시행되고 있는 하천정비와 하도정비는 하천 흐름의 특성을 간과한 채 일괄적으로 진행되어 왔으며 그 결과로 하천의 인공화는 지금까지 계속되고 있다. 이에 따라 하천 및 하도의 물리, 화학, 생물에 미치는 영향은 심각하며, 그 동안 인위적인 하천교란의 요인과 하천교란에 따른 영향, 즉 하상변동, 외래종 식생 침입, 생태서식처 변화 등의 정량적 평가 기술의 수립은 매우 미흡한 상태이다. 뿐만 아니라 하천 교란 극복을 위한 저감기술, 복원기술 및 적응관리 기술 또한 체계적으로 정리되지 못하여 하천과 댐 관리당국이 어려움을 겪고 있다. 이러한 상황을 극복하기 위해서는 하천 교란에 대항하는 회복관리 기술 개발을 위한 교란 평가 기술이 필요하다. 따라서 본 연구에서는 항공사진 및 GIS기법을 이용하여 국내 주요하천의 원인별 교란실태를 조사하고 분석함으로써 하천교란 조사기술 개발에 응용할 수 있는 방안을 제시하고자 하였다. 분석을 위하여 댐 하류의 하천교란 및 적응현장 시범지역을 선정한 후 대상 지역의 항공사진을 GIS화하여 하천 교란 실태를 분석하는 데에 필요한 자료를 생성하였으며 생성된 자료를 바탕으로 하천의 평면 및 단면의 변화특성을 조사할 수 있었다. 또한 경년별 저수로 형태와 하천 중심선 비교 분석을 통하여 저수로의 이동 및 변화 양상을 규명해 낼 수 있었으며 그 결과 댐 하류지역에서 하도안정문제가 발생하였음을 확인할 수 있었다. 본 연구 결과를 바탕으로 보다 효율적인 하도안정문제에 관한 대책수립이 가능하리라 보며, 이를 위해서는 하천 교란 조사기술 개발에 대한 연구가 뒤따라야 할 것이다.과적임을 알 수 있었다. 실험 결과 본 기법으로 유휴시간에 프로세서를 저전력모드로 바꾸는 기존의 고전적인 전력 관리 기법보다 전체 시스템 전력 소모를 9% 더 절약할 수 있었다. 위성영상과 DEM 개발기술이 87% 이상의 점수를 받아 가장 시장성 및 활용성이 높은 기술로 평가되었으며, 초다분광영상에 대한 기술은 70%를 겨우 넘는 수준에서 평가가 되었다. 멀티센서 공간영상정보 통합처리 기술 개발은 다목적 실용위성의 보유, 국가 NGIS 사업의 결과물이 상당히 축척이 되어 있고, 라이다(LiDAR) 기술의 도입을 위한 환경이 조성되었기에 다른 국가에 비해 멀티센서 기술의 적용과 산업화가 가시화 될 수 있을 것으로 기대된다. 그러나 멀티센서 자료의 수급이 용이하지 못하고, 법 제도적인 한계, 시장의 성숙도가 기대이하라는 점 등의 한계를 노정하고 있다.a var. sieboldii 3. Pinus densiflora, Q. aliena, Q. acutissima, P. thunbergii, Q. acuta 4. Carpinus laxiflora, Camellia japonicas. C. tschonoskii community의 5개 그룹으로 나타났다. 하류의 부착돌말류는 상대적으로 양호한 수질을 가지고 있는 정점 1에서 다양한 생물상을, 탄천의 영향을 받는 정점 2는 상대적으로 수질이 악화되어 호오염성 종들이 높은 분포를 나타내고 있었다. 또한 부착돌말류 중 Cymbella minuta는 다른 부착돌말류에 비해 강한 오염지표성을 나타내고 있었다.p=0.000, $4.76{\pm}3.31$

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.10
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• pp.36-41
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• 2017

The mobile mapping system first introduced at Ohio State University in 1991 is being developed in various forms as sensor technology develops. The mobile mapping system can acquire geospatial information around amoving object quickly using the information gathered using the position and attitude information of the moving object and the data from various sensors. The mobile mapping system can rapidly acquire large amounts of Geospatial information and MMS provides maximum productivity in the same measurement methods as existing GNSS and total stations. Currently, a variety of systems are being launched, mainly by foreign companies, and they are applied to the construction of geospatial information. On the other hand, the application of domestic technology development or production is insufficient. This paper provides basic data for the introduction of a mobile mapping system to geospatial information related business by conducting the status survey and feature analysis of a commercialized system focusing on the ground-based mobile mapping system. The research identified the current status and characteristics of high-priced, low-priced, indoor, and handheld mobile mapping systems based on vehicles and suggest that the recent system development trends are moving toward lowering the unit prices. The mobile mapping system is currently being developed as a platform for the application of geospatial information construction and the launch of low-cost models. The development of data processing technologies, such as automatic matching and the launch of low-cost models, are forming a basis for the application of mobile mapping systems in the field of geospatial information construction.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.20 no.1
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• pp.174-192
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• 2021

The LIDAR sensor, which provides higher cognitive performance than cameras and radar, is difficult to apply to ADAS or autonomous driving because of its high price. On the other hand, as the price is decreasing rapidly, expectations are rising to improve existing autonomous driving functions by taking advantage of the LIDAR sensor. In level 3 autonomous vehicles, when a dangerous situation in the cognitive module occurs due to a sensor defect or sensor limit, the driver must take control of the vehicle for manual driving. If the driver does not respond to the request, the system must automatically kick in and implement a minimum risk maneuver to maintain the risk within a tolerable level. In this study, based on this background, a LIDAR-based LKS MRM algorithm was developed for the case when the normal operation of LKS was not possible due to troubles in the cognitive system. From point cloud data collected by LIDAR, the algorithm generates the trajectory of the vehicle in front through object clustering and converts it to the target waypoints of its own. Hence, if the camera-based LKS is not operating normally, LIDAR-based path tracking control is performed as MRM. The HAZOP method was used to identify the risk sources in the LKS cognitive systems. B, and based on this, test scenarios were derived and used in the validation process by simulation. The simulation results indicated that the LIDAR-based LKS MRM algorithm of this study prevents lane departure in dangerous situations caused by various problems or difficulties in the LKS cognitive systems and could prevent possible traffic accidents.

• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• v.8 no.3
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• pp.945-953
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• 2018

In this paper, we use 3-D LIDAR for obstacle detection and avoidance maneuver for autonomous unmanned operation. It is aimed to avoid obstacle avoidance in unmanned water under marine condition using only single sensor. 3D lidar uses Quanergy's M8 sensor to collect surrounding obstacle data and includes layer information and intensity information in obstacle information. The collected data is converted into a three-dimensional Cartesian coordinate system, which is then mapped to a two-dimensional coordinate system. The data including the obstacle information converted into the two-dimensional coordinate system includes noise data on the water surface. So, basically, the noise data generated regularly is defined by defining a hypothetical region of interest based on the assumption of unmanned water. The noise data generated thereafter are set to a threshold value in the histogram data calculated by the Vector Field Histogram, And the noise data is removed in proportion to the amount of noise. Using the removed data, the relative object was searched according to the unmanned averaging motion, and the density map of the data was made while keeping one cell on the virtual grid map. A polar histogram was generated for the generated obstacle map, and the avoidance direction was selected using the boundary value.