• Proceedings of the KSRS Conference
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• v.2
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• pp.590-593
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• 2006

Timber inventory management includes to measure and update forest attributes, which is crucial information for private companies and public organizations in property assessment and environment monitoring. Field measurement would be accurate, but time-consuming and inefficient. For the reason, remote sensing technology has been an alternative to field measurement from an economic perspective. Among several sensors, LiDAR and Radar interferometry are known for their efficiency for forest monitoring because they are less influenced by weather and light conditions, and provide reasonably accurate vertical/horizontal measurement for a large area in a short period. For example, Shuttle Radar Topography Mission (SRTM) and National Elevation Dataset (NED) in the U.S. can provide tree height information and DSM. On the other hand, LiDAR DSM (the first return) and DEM (the last return) can also present tree height estimation. With respect to project site of loblolly pine plantation in Louisiana in the U.S., the accuracy of SRTM C-Band approach estimating tree height was assessed by the LiDAR approaches. In addition, SRTM X-Band and NED were also compared with the results. Plantation year in inventory GIS, which is directly related to forest age, is high correlated with the difference between SRTM C-Band and NED. As a byproduct, several stands of age mismatch could be recognized using an outlier detection algorithm, and optical satellite image (ETM+) were used to verify the mismatch. The findings of this study were (1) the confirmation of usefulness of the SRTM DSM for forest monitoring and (2) Multi-sensors- Radar, LiDAR, ETM+, MODIS can be used for accuracy improvement of forest inventory GIS altogether.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2022.05a
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• pp.101-103
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• 2022

CCTV is mainly used as a real-time detection system for critical facilities. In the case of CCTV, although the accuracy is high, the viewing angle is narrow, so it is used in combination with a sensor such as a radar. LiDAR is a technology that acquires distance information by detecting the time it takes to reflect off an object using a high-power pulsed laser. In the case of lidar, there is a problem in that the utilization is not high in terms of cost and technology due to the limitation of the number of simultaneous processing sensors in the server due to the data throughput. The detection method by the optical mesh sensor is also vulnerable to strong winds and extreme cold, and there is a problem of maintenance due to damage to animals. In this paper, by using the 1550nm wavelength band instead of the 905nm wavelength band used in the existing lidar sensor, the effect on the weather environment is strong and we propose to develop a system that can integrate and control multiple sensors.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.2
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• pp.108-114
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• 2015

Automated driving systems require a high level of performance regarding environmental perception, especially in urban environments. Today's on-board sensors such as radars or cameras do not reach a satisfying level of development from the point of view of robustness and availability. Thus, map data is often used as an additional data input to support these systems. An accurate digital map is used as a powerful additional sensor. In this paper, we propose a new approach for vehicle localization using a lane map and a single-layer LiDAR. The maps are created beforehand using a highly accurate DGPS and a single-layer LiDAR. A pose estimation of the vehicle was derived from an iterative closest point (ICP) match of LiDAR's intensity data to the lane map, and the estimated pose was used as an observation inside a Kalmanfilter framework. The achieved accuracy of the proposed localization algorithm is evaluated with a highly accurate DGPS to investigate the performance with respect to lateral vehicle control.

• 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.

• ETRI Journal
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• v.43 no.4
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• pp.603-616
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• 2021

Over the last few years, autonomous vehicles have progressed very rapidly. The odometry technique that estimates displacement from consecutive sensor inputs is an essential technique for autonomous driving. In this article, we propose a fast, robust, and accurate odometry technique. The proposed technique is light detection and ranging (LiDAR)-based direct odometry, which uses a spherical range image (SRI) that projects a three-dimensional point cloud onto a two-dimensional spherical image plane. Direct odometry is developed in a vision-based method, and a fast execution speed can be expected. However, applying LiDAR data is difficult because of the sparsity. To solve this problem, we propose an SRI generation method and mathematical analysis, two key point sampling methods using SRI to increase precision and robustness, and a fast optimization method. The proposed technique was tested with the KITTI dataset and real environments. Evaluation results yielded a translation error of 0.69%, a rotation error of 0.0031°/m in the KITTI training dataset, and an execution time of 17 ms. The results demonstrated high precision comparable with state-of-the-art and remarkably higher speed than conventional techniques.

• The Journal of Engineering Geology
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• v.25 no.1
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• pp.83-91
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• 2015

Few studies have investigated soil management policy and soil erosion measurement, whereas the occurrence of climate change requires the establishment of robust soil management systems and appropriate control of soil erosion. In this study, we developed a smart sensor for real-time quantitative measurements of soil erosion at the watershed scale. The smart sensor consists of an ultrasonic sensor, a rainfall meter, a solar cell, an RTU (remote terminal unit),and a CDMA (code division multiple access) and it was programmed to take a measurement every 30 minutes. The depths measured by the smart sensor were compared with data from terrestrial LiDAR. Experimental results showed a strong correlation in the depth of soil erosion between LiDAR and the ultrasonic sensor for the period from 22 August to 11 October 2013. Furthermore, the correlation coefficient between soil erosion depth (mm) and soil erosion volume (m³) was 0.9063 in the lower region of the watershed and is 0.9868 in the upper region. The proposed ultrasonic sensor technique can provide high-quality data for soil conservation and management systems in the future.

• Journal of Broadcast Engineering
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• v.28 no.3
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• pp.329-332
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• 2023

3D Object Detection using deep neural network has been developed a lot for obstacle detection in autonomous vehicles because it can recognize not only the class of target object but also the distance from the object. But in the case of 3D Object Detection models, the detection performance for distant objects is lower than that for nearby objects, which is a critical issue for autonomous vehicles. In this paper, we introduce a technique that increases the performance of 3D object detection models, particularly in recognizing distant objects, by generating virtual 3D vehicle data and adding it to the dataset used for model training. We used a spherical point tracing method that leverages the characteristics of 3D LiDAR sensor data to create virtual vehicles that closely resemble real ones, and we demonstrated the validity of the virtual data by using it to improve recognition performance for objects at all distances in model training.

• KIPS Transactions on Computer and Communication Systems
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• v.12 no.3
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• pp.93-102
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• 2023

Data processing through the cloud causes many problems, such as latency and increased communication costs in the communication process. Therefore, many researchers study edge computing in the IoT, and autonomous driving is a representative application. In indoor self-driving, unlike outdoor, GPS and traffic information cannot be used, so the surrounding environment must be recognized using sensors. An efficient autonomous driving system is required because it is a mobile environment with resource constraints. This paper proposes a machine-learning method using neural networks for autonomous driving in an indoor environment. The neural network model predicts the most appropriate driving command for the current location based on the distance data measured by the LiDAR sensor. We designed six learning models to evaluate according to the number of input data of the proposed neural networks. In addition, we made an autonomous vehicle based on Raspberry Pi for driving and learning and an indoor driving track produced for collecting data and evaluation. Finally, we compared six neural network models in terms of accuracy, response time, and battery consumption, and the effect of the number of input data on performance was confirmed.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.36 no.5
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• pp.395-401
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• 2018

Recently, most of mobile devices are equipped with GNSS (Global Navigation Satellite System). When the GNSS signal is available, it is easy to obtain position information. However, GNSS is not suitable solution for indoor localization, since the signals are normally not reachable inside buildings. A wide varieties of technology have been developed as a solution for indoor localization such as Wi-Fi, beacons, and inertial sensor. With the increased sensor combinations in mobile devices, mobile devices also became feasible to provide a solution, which based on PDR (Pedestrian Dead Reckoning) method. In this study, we utilized the combination of three sensors equipped in mobile devices including accelerometer, digital compass, and gyroscope and applied three representative PDR methods. The proposed methods are done in three stages; step detection, step length estimation, and heading determination and the final indoor localization result was evaluated with terrestrial LiDAR (Light Detection And Ranging) data obtained in the same test site. By using terrestrial LiDAR data as reference ground truth for PDR in two differently designed experiments, the inaccuracy of PDR methods that could not be found by existing evaluation method could be revealed. The firstexperiment included extreme direction change and combined with similar pace size. Second experiment included smooth direction change and irregular step length. In using existing evaluation method which only checks traveled distance, The results of two experiments showed the mean percentage error of traveled distance estimation resulted from three different algorithms ranging from 0.028 % to 2.825% in the first experiment and 0.035% to 2.282% in second experiment, which makes it to be seen accurately estimated. However, by using the evaluation method utilizing terrestrial LiDAR data, the performance of PDR methods emerged to be inaccurate. In the firstexperiment, the RMSEs (Root Mean Square Errors) of x direction and y direction were 0.48 m and 0.41 m with combination of the best available algorithm. However, the RMSEs of x direction and y direction were 1.29 m and 3.13 m in the second experiment. The new evaluation result reveals that the PDR methods were not effective enough to find out exact pedestrian position information opposed to the result from existing evaluation method.

• Journal of Cadastre & Land InformatiX
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• v.49 no.1
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• pp.17-27
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• 2019

In this study, we conducted a study to predict the photovoltaic power by constructing the sensor based meteorological data observation system and the accurate terrain data obtained by using LiDAR surveying. The average sunshine hours in 2018 is 4.53 hours and the photovoltaic power is 2,305 MWh. In order to analyze the effect of photovoltaic power on the installation angle of solar modules, we installed module installation angle at $10^{\circ}$ intervals. As a result, the generation time was 4.24 hours at the module arrangement angle of $30^{\circ}$, and the daily power generation and the monthly power generation were the highest, 3.37 MWh and 102.47 MWh, respectively. Therefore, when the module arrangement angle is set to $30^{\circ}$, the generation efficiency is increased by about 4.8% compared with the module angle of $50^{\circ}$. As a result of analyzing the influence of the seasonal photovoltaic power by the installation angle of the solar module, it was found that the photovoltaic power was high in the range of $40^{\circ}{\sim}50^{\circ}$, where the module angle was large from November to February when the weather was cold. From March to October, it was found that the photovoltaic power amount is $10^{\circ}{\sim}30^{\circ}$ with small module angle.