• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.6
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• pp.726-732
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• 2013

It is required for UGV(Unmanned Ground Vehicle) to have a LPP(Local Path Plan) component which generate a local path via the center of road by analyzing binary map to travel autonomously unpaved road in rough environment. In this paper, we present the method of boundary estimation for unpaved road and a local path planning method based on RANGER algorithm using the estimated boundary. In specially, the paper presents an approach to estimate road boundary and the selection method of candidate path to minimize the problem of zigzag driving based on Bayesian probability reasoning. Field test is conducted with scenarios in rough environment in which bush, tree and unpaved road are included and the performance of proposed method is validated.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.226-231
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• 1998

This paper describes how a priori road geometry and its estimation may be used to detect road boundaries and lane markings in road scene images. We assume flat road and road boundaries and lane markings are all Bertrand curves which have common principal normal vectors. An active contour is used for the detection of road boundary, and we reconstruct its geometric property and make use of it to detect lane markings. Our approach to detect road boundary is based on minimizing energy function including edge related term and geometric constraint term. Lane position is estimated by pixel intensity statistics along the parallel curve shifted properly from boundary of the road. We will show the validity of our algorithm by processing real road images.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.3
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• pp.199-205
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• 2011

This paper presents an algorithm capable of detecting free space for the autonomous vehicle navigation. The algorithm consists of two main steps: 1) estimation of longitudinal profile of road, 2) detection of free space. The estimation of longitudinal profile of road is detection of v-line in v-disparity image which is corresponded to road slope, using v-disparity image and hough transform, Dijkstra algorithm. To detect free space, we detect u-line in u-disparity image which is a boundary line between free space and obstacle's region, using u-disparity image and dynamic programming. Free space is decided by detected v-line and u-line. The proposed algorithm is proven to be successful through experiments under various traffic scenarios.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1375-1378
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• 1997

In this paper, we presents the algorithm which is to recognize the traffic sign on the road the traffic signal in a video image for autonomous navigation. First, the rocognition of traffic sign on the road can be detected using boundary point estimation form some scan-lines within the lane deducted. For this algorithm, index matrix method is used to detemine what sign is. Then, the traffic signal recognition is performed by usign the window minified by several scan-lines which position may be expected. For this algoritm, line profile concept is adopted.

• Journal of Environmental Impact Assessment
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• v.14 no.5
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• pp.317-335
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• 2005

This paper is primarily intended to propose a new concept of "aggregate control of road density" which is defined as the area-wide road surface per watershed area. An empirical study for experimental sites was conducted to confirm how a standard GIS technology can be used to assist in estimating the road density in terms of total volume threshold control. Guidelines for a replicable methodology are presented to provide a strong theoretical basis for the standardization of factors involved in the estimation of the road space threshold; the meaningful classification of road types, delination of watershed boundary, interpretation for distribution trends of road density etc. A variety of visual maps using overlay analysis can be generated over large areas quickly and easily to show the fact that some degree of road space already exists in the experimental sites. They could be used as an evidence to limit further construction of road network in comparison with other tributary watershed. It is anticipated that this research output could be used as a valuable reference to confirm the potential of introducing the new concept of "site specific road density" to support more scientific and objective decision-making in the process of road construction project.

• Journal of Broadcast Engineering
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• v.14 no.2
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• pp.253-264
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• 2009

This paper presents an algorithm, aims at practical applications, for the high speed processing and performance enhancement of lane detection base on vision processing system. As a preprocessing for high speed lane detection, the vanishing line estimation and the optimal extraction of region of interest for lane boundary (ROI-LB) can be processed to reduction of detection region in which high speed processing is enabled. Image feature information is extracted only in the ROI-LB. Road lane is extracted using a non-parametric model fitting and Hough transform within the ROI-LB. With simultaneous processing of noise reduction and edge enhancement using the Laplacian filter, the reliability of feature extraction can be increased for various road lane patterns. Since outliers of edge at each block can be removed with clustering of edge orientation for each block within the ROI-LB, the performance of lane detection can be greatly improved. The various real road experimental results are presented to evaluate the effectiveness of the proposed method.

• Tunnel and Underground Space
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• v.19 no.6
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• pp.498-506
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• 2009

The stability assessment of a concrete liner of a compressed air storage tunnel should be performed by an approach which is different from that commonly used for the liners of road tunnels, since the liner is exposed to high air pressure. In this study, the stability analysis method for the liner of compressed air storage tunnel is proposed based on the elastic and elasto-plastic solutions of the thick-walled cylinder problem. In case of elastic analysis, the yield initiation condition at the inner boundary is considered as the failure condition of the liner, while the condition which results in the extension of yielding zone to a certain depth is taken as a failure indicator of the liner in the elasto-plastic analysis taking Mohr-Coulomb criterion. The application of the proposed method revealed that the influence of the relative magnitude of boundary loads on the stability of liner is considerable. In particular, noting that the estimation of the outer boundary load may be relatively difficult, it is thought that the precise prediction of outer boundary load is very important in the analysis. Accordingly, the emphasis is put on the selection of the liner installation time, which may govern the magnitude of outer boundary load.

• Journal of Auto-vehicle Safety Association
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• v.9 no.3
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• pp.24-30
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• 2017

This paper presents the development of laser scanner based static obstacle detection algorithm for vehicle localization on lane lost section. On urban autonomous driving, vehicle localization is based on lane information, GPS and digital map is required to ensure. However, in actual urban roads, the lane data may not come in due to traffic jams, intersections, weather conditions, faint lanes and so on. For lane lost section, lane based localization is limited or impossible. The proposed algorithm is designed to determine the lane existence by using reliability of front vision data and can be utilized on lane lost section. For the localization, the laser scanner is used to distinguish the static object through estimation and fusion process based on the speed information on radar data. Then, the laser scanner data are clustered to determine if the object is a static obstacle such as a fence, pole, curb and traffic light. The road boundary is extracted and localization is performed to determine the location of the ego vehicle by comparing with digital map by detection algorithm. It is shown that the localization using the proposed algorithm can contribute effectively to safe autonomous driving.

• Journal of the Korean Association of Geographic Information Studies
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• v.7 no.1
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• pp.84-93
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• 2004

Recently, domain-specific demands with respect to practical applications and analysis scheme using spatial thematic information are increasing. Accordingly, in this study, GIS-based application program is implemented to perform spatial analysis in transportation geography with base road layer data. Using this program, quantitative estimation of circuity and accessibility, which can be extracted from nodes composed of the graph-typed network structure, in a arbitrary analysis zone or administrative boundary zone is possible. Circuity is a concept to represent the difference extent between actual nodes and fully connected nodes in the analysis zone. While, accessibility can be used to find out extent of accessibility or connectivity between all nodes contained in the analysis zone, judging from inter-connecting status of the whole nodes. In put data of this program, which was implemented in AVX executable extension using AvenueTM of ArcView, is not transportation database information based on transportation data model, but layer data, directly obtaining from digital map sets. It is thought that computation of circuity and accessibility can be used as kinds of spatial analysis functions for GIS applications in the transportation field.