• KSII Transactions on Internet and Information Systems (TIIS)
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• 제11권8호
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• pp.3965-3983
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• 2017

We propose a novel eye tracking method that can estimate 3D world coordinates using an infrared (IR) stereo camera for indoor and outdoor environments. This method first detects dark evidences such as eyes, eyebrows and mouths by fast multi-level thresholding. Among these evidences, eye pair evidences are detected by evidential reasoning and geometrical rules. For robust accuracy, two classifiers based on multiple layer perceptron (MLP) using gradient local binary patterns (GLBPs) verify whether the detected evidences are real eye pairs or not. Finally, the 3D world coordinates of detected eyes are calculated by region-based stereo matching. Compared with other eye detection methods, the proposed method can detect the eyes of people wearing sunglasses due to the use of the IR spectrum. Especially, when people are in dark environments such as driving at nighttime, driving in an indoor carpark, or passing through a tunnel, human eyes can be robustly detected because we use active IR illuminators. In the experimental results, it is shown that the proposed method can detect eye pairs with high performance in real-time under variable illumination conditions. Therefore, the proposed method can contribute to human-computer interactions (HCIs) and intelligent transportation systems (ITSs) applications such as gaze tracking, windshield head-up display and drowsiness detection.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2004년도 춘계학술발표회
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• pp.11-19
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• 2004

When pile foundation constructed by driving method, it is desirable to perform monitoring and estimation of pile drivability and bearing capacity using some suitable tools. Dynamic Pile Monitoring yields information regarding the hammer, driving system, and pile and soil behaviour that can be used to confirm the assumptions of wave equation analysis. Dynamic Pile Monitoring is performed with the Pile Driving Analyser. The Pile Driving Analyser (PDA) uses wave propagation theory to compute numerous variables that fully describe the condition of the hammer-pile-soil system in real time, following each hammer impact. This approach allows immediate field verification of hammer performance, driving efficiency, and an estimate of pile capacity. The PDA has been used widely as a most effective control method of pile installations. A set of PDA test was performed at the site of Donghea-1 Gas Platform Jacket which is located east of Ulsan. The drilling core sediments of location of jacket subsoil are composed of mud and sand, silt. In this case study, the results of PDA test which was applied to measurement and estimation of large diameter open ended steel pipe pile driven by underwater hydraulic hammer, MHU-800S, at the marine sediments were summarized.

• ETRI Journal
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• 제43권4호
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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.

• 전자공학회논문지 IE
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• 제45권4호
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• pp.33-41
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• 2008

텔레매틱스 시스템의 기능 중 현실적으로 상품성 있는 기능으로 "차량 원격 진단 기능", "운전 패턴 분석 기능"이 있으며 이를 구현하기 위한 기술로는 차량 신호 인터페이스 기술, 자가 진단 인터페이스 기술, 가속도/자이로 센서 인터페이스 기술, PS 신호 처리 기술, 운전 패턴 분석 기술, 무선통신(CDMA) 처리 기술 등이 사용된다. 이러한 기술을 기반으로 본 논문에서는 차량 주행 중에 자각의 EMS(Engine Management System), TMS(Transmission Management System), ABS/TCS, A/BAG 능에서 진단된 차량의 이상 유무를 실시간으로 분석하고, 운전자 주행 패턴 및 차량 관리에 대한 사항을 점검하여 무선통신(CDMA)을 통해 정보센터로 전송하여 이를 DB화함으로써 효율적 차량 관리 및 운전자 관리가 가능하다. 본 연구는 이러한 차량 원격진단 및 운전 패턴 분석기능을 구현하는 H/W와 S/W를 설계 및 제작하고 실차 시험을 통해 이를 검증한다.

• 환경영향평가
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• 제20권2호
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• pp.217-226
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• 2011

This paper was inspired by the fact that Real-time Traffic Information Service could play a key role in reducing incomplete combustion time remarkably since it can provide traffic jam information in real-time basis. Emission characteristics of experimental engines were studied with variable travel distances and speed of car in terms of traffic information provided. 12 Km distance road of Susung district in Daegu is taken as an experimental area to examine this new approach. The emission was tested while the driving was done at 8 AM, 3 PM, 6 PM which represents various traffic conditions. The reduced emission has been measured for a travel distance running at different loads (conventional shortest route and Real-time Traffic Information) and various loads (CO, VOC and NOx) are all inventoried and calculated in terms of existing emission factors. The emission has been shown to reduce linearly with travel distance : carbon monoxide (20.56%), VOC (29.21%), NOx(8.86%).

• 한국대기환경학회지
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• 제27권4호
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• pp.443-453
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• 2011

Real-time Traffic Information Service could play a key role in reducing incomplete combustion time remarkably since it can provide traffic information in real-time basis. Emission characteristics of test engines were studied in terms of travel distance and speed. The present study focused on a north district in Daegu, 12 km. The driving for the emission test was done at 8AM, 3PM, 7PM which represents various traffic conditions. The reduced emissions of Greenhouse Gases (GHG) have been measured for a travel distance running at different loads (conventional shortest route and Real-time Traffic Information) and GHG ($CO_2$, $CH_4$, $N_2O$) are all inventoried and calculated in terms of existing emission factors. The emission of GHG has been shown to reduce linearly with travel distance: $CO_2$ (9.15%), $CH_4$ (18.43%), $N_2O$(18.62%).

• 한국콘텐츠학회논문지
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• 제20권10호
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• pp.1-13
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• 2020

CMOS 카메라 영상의 화질을 좌우하는 것은 여러 가지가 있는데 그 중에서 영상 노출시간은 중요한 요소이다. 영상 노출시간이 길게 되면 화면 전체 영상이 밝아지게 되고 노출시간이 짧아지면 전체 영상이 어두워지게 된다. 정지 피사체를 사진 촬영할 경우 자동노출 시스템이 적절한 노출시간을 얻는데 충분한 시간이 주어지기 때문에 실시간성이 요구되지 않는다. 하지만 주행 중인 자동차의 블랙박스 같이 주변 빛 환경이 빠르게 변하게 되면 이에 맞추어서 노출시간도 실시간으로 반응하여 적용되어야 한다. 이를 위해서는 실시간성과 주변 빛 환경에 대하여 강건한 자동노출 시스템이 요구된다. 본 논문에서는 ZYNQ의 로직과 ARM코어를 적용한 임베디드 시스템 설계로 병렬 연산처리 가능한 실시간 제어 시스템을 설계하였고 이를 바탕으로 PID 제어를 통해서 66ms 이내에 원하는 목표 값으로 수렴하고 노이즈에 강건한 실시간 CMOS 자동 노출 시스템을 개발하였다.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2003년도 춘계학술대회 논문집 센서 박막재료 반도체 세라믹
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• pp.194-199
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• 2003

Depth error correction effect for maladjusted stereo cameras with calibrated pixel distance parameter is presented. The proposed neural network technique is the real time computation method based theory of inter-node diffusion for searching the safety distances from the sudden appearance-objects during the work driving. The main steps of the distance computation using the theory of stereo vision like the eyes of man is following steps. One is the processing for finding the corresponding points of stereo images and the other is the interpolation processing of full image data from nonlinear image data of objects. All of them request much memory space and time. Therefore the most reliable neural-network algorithm is derived for real-time matching of objects, which is composed of a dynamic programming algorithm based on sequence matching techniques.

• 한국감성과학회:학술대회논문집
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• 한국감성과학회 2000년도 춘계 학술대회 및 국제 감성공학 심포지움 논문집 Proceeding of the 2000 Spring Conference of KOSES and International Sensibility Ergonomics Symposium
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• pp.352-357
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• 2000

A full-scale driving simulator is being developed as an effective test-bed for reproducing realistic driving situation in a safe and tightly controlled environment and conducting various human sensibility ergonomics studies. The simulator will be equipped with a 6 degree-of-freedom, high frequency motion base and a 4 channel, wide field-of-view visual system. The simulator will be fully interactive, highly realistic, and yet economical, taking advantages of the fast growing PC technology.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.395-402
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• 2005

This paper deals with modeling and computer simulation of a full multibody vehicle model for a driving simulator. The multibody vehicle model is based on the recursive formulation and a corresponding simulation code is generated automatically from AUTOCODE, which is a symbolic computation package developed by the authors using MAPLE. The paper describes a procedure for automatically generating a highly efficient simulation code for the full vehicle model, while incorporating realistically modeled components. The following issues have been accounted for in the procedure, including software design for representing a mechanical system in symbolic form as a set of computer data objects, a multibody formulation for systems with various types of connections between bodies, automatic manipulation of symbolic expressions in the multibody formulation, interface design for allowing users to describe unconventional force-and torque-producing components, and a method for accommodating external computer subroutines that may have already been developed. The effectiveness and efficiency of the proposed method have been demonstrated by the simulation code developed and implemented for driving simulation.