• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.222-224
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• 2009

This paper presents an algorithm that extracts road lane's specific information by using HSI color information and performance enhancement of lane detection base on vision processing of drive assist. As a preprocessing for high speed lane detection, 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 and it also increases reliabilities by deleting edges those are misrecognized. Road lane is extracted 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 noise can be removed by using saturation and brightness of HSI color model. Also it searches for the road lane's color information and extracts characteristics. The real road experimental results are presented to evaluate the effectiveness of the proposed method.

• Journal of the Korean Institute of Rural Architecture
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• v.5 no.2
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• pp.10-19
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• 2003

The purpose of this study was to analyze the formation and change of road-block-lot of the old inner city in cheongju The result of this study are as follows; (I)Among others a system roads of in around the old castle in cheongju city is most of feature north and south direction of road. Lot system is organic relations of north and south direction of road. Therefore, urban tissue in around the old castle in cheongju city is established order road system keep on the change of expansion urban tissue. (2) Block type classified into non-division, 2division and over 3division. (3) The square block remains mostly in Cheongju old castle, two-division block was around south of castle. And block of the grid-form street system divided into over 3 division. Through the guideline about characteristic of block type, residential area should be developed as a characteristics area in the urban area.

• Proceedings of the KSRS Conference
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• 2007.10a
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• pp.234-237
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• 2007

Road networks are important geospatial databases for various GIS (Geographic Information System) applications. Road digital maps may contain geometric spatial errors due to human and scanning errors, but manually updating roads information is time consuming. In this paper, we developed a new road features updating methodology using from multispectral high-resolution satellite image and pre-existing vector map. The approach is based on initial seed point generation using line segment matching and a modified double snake algorithm. Firstly, we conducted line segment matching between the road vector data and the edges of image obtained by Canny operator. Then, the translated road data was used to initialize the seed points of the double snake model in order to refine the updating of road features. The double snake algorithm is composed of two open snake models which are evolving jointly to keep a parallel between them. In the proposed algorithm, a new energy term was added which behaved as a constraint. It forced the snake nodes not to be out of potential road pixels in multispectral image. The experiment was accomplished using a QuickBird pan-sharpened multispectral image and 1:5,000 digital road maps of Daejeon. We showed the feasibility of the approach by presenting results in this urban area.

• The KIPS Transactions:PartB
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• v.18B no.5
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• pp.255-264
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• 2011

In this paper, we propose a forward vehicle detection algorithm using column detection and bird's-eye view mapping based on stereo vision. The algorithm can detect forward vehicles robustly in real complex traffic situations. The algorithm consists of the three steps, namely road feature-based column detection, bird's-eye view mapping-based obstacle segmentation, obstacle area remerging and vehicle verification. First, we extract a road feature using maximum frequent values in v-disparity map. And we perform a column detection using the road feature as a new criterion. The road feature is more appropriate criterion than the median value because it is not affected by a road traffic situation, for example the changing of obstacle size or the number of obstacles. But there are still multiple obstacles in the obstacle areas. Thus, we perform a bird's-eye view mapping-based obstacle segmentation to divide obstacle accurately. We can segment obstacle easily because a bird's-eye view mapping can represent the position of obstacle on planar plane using depth map and camera information. Additionally, we perform obstacle area remerging processing because a segmented obstacle area may be same obstacle. Finally, we verify the obstacles whether those are vehicles or not using a depth map and gray image. We conduct experiments to prove the vehicle detection performance by applying our algorithm to real complex traffic situations.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.3
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• pp.50-59
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• 2014

This paper proposes a method of localization of vehicle especially the horizontal position for the purpose of recognizing the driving lane. Through tracking road signs, the relative position between the vehicle and the sign is calculated and the absolute position is obtained using the known information from the regulation for installation. The proposed method uses Kalman filter for road sign tracking and analyzes the motion using the pinhole camera model. In order to classify the road sign, ORB(Oriented fast and Rotated BRIEF) features from the input image and DB are matched. From the absolute position of the vehicle, the driving lane is recognized. The Experiments are performed on videos from the highway driving and the results shows that the proposed method is able to compensate the common GPS localization errors.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.4
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• pp.372-378
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• 2009

For effective mobility control of unmanned ground vehicles in outdoor off-road environments, terrain cover classification technology using passive sensors is vital. This paper presents a novel method far terrain classification based on color and texture information of off-road images. It uses a neural network classifier and wavelet features. We exploit the wavelet mean and energy features extracted from multi-channel wavelet transformed images and also utilize the terrain class spatial coordinates of images to include additional features. By comparing the classification performance according to applied features, the experimental results show that the proposed algorithm has a promising result and potential possibilities for autonomous navigation.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.983-988
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• 2011

This paper presents a robust method for ground plane detection in vision-based applications based on a monocular sequence of images with a non-stationary camera. The proposed method, which is based on the reliable estimation of the homography between two frames taken from the sequence, aims at designing a practical system to detect road surface from traffic scenes. The homography is computed using a feature matching approach, which often gives rise to inaccurate matches or undesirable matches from out of the ground plane. Hence, the proposed homography estimation minimizes the effects from erroneous feature matching by the evaluation of the difference between the predicted and the observed matrices. The method is successfully demonstrated for the detection of road surface performed on experiments to fill an information void area taken place from geometric transformation applied to captured images by an in-vehicle camera system.

• ETRI Journal
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• v.36 no.6
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• pp.968-978
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• 2014

Autonomous vehicle technology based on information technology and software will lead the automotive industry in the near future. Vehicle localization technology is a core expertise geared toward developing autonomous vehicles and will provide location information for control and decision. This paper proposes an effective vision-based localization technology to be applied to autonomous vehicles. In particular, the proposed technology makes use of numerical maps that are widely used in the field of geographic information systems and that have already been built in advance. Optimum vehicle ego-motion estimation and road marking feature extraction techniques are adopted and then combined by an extended Kalman filter and particle filter to make up the localization technology. The implementation results of this paper show remarkable results; namely, an 18 ms mean processing time and 10 cm location error. In addition, autonomous driving and parking are successfully completed with an unmanned vehicle within a $300m{\times}500m$ space.

• Journal of Multimedia Information System
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• v.5 no.1
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• pp.9-14
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• 2018

A road recognition system or Lane departure warning system is an early stage technology that has been commercialized as early as 10 years but can be optional and used as an expensive premium vehicle, with a very small number of users. Since the system installed on a vehicle should not be error prone and operate reliably, the introduction of robust feature extraction and tracking techniques requires the development of algorithms that can provide reliable information. In this paper, we investigate and analyze various real-time road detection algorithms based on color information. Through these analyses, we would like to suggest the algorithms that are actually applicable.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.170.3-170
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• 2001

Antilock brake system(ABS) prevent the wheels of road vehicle from locking up and skidding so that the braking force is from static friction instead of kinetic friction. Therefore ABS helps drivers maintain steering control during breaking situation particularly at an emergency stopping situation. So when trying to stop the road vehicle it is best to have the most friction possible for faster deceleration ABS keep the wheels turning which means there is more friction between the tires of vehicles and the road surface. Because of this advantage, ABS are now a commonly installed feature for passenger's safety in road vehicles. In this study, hydraulic system of ABS of vehicle is composed of 3port-2position solenoid valve. In order to minimize ...