• 한국방재학회:학술대회논문집
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• 한국방재학회 2007년도 정기총회 및 학술발표대회
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• pp.101-104
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• 2007

There is no overall understanding about the road marking situation in Korean national highway nowadays. In addition road marking increases risk in traffic accidents especially while it's raining at night because of diffused reflection. So administrator has a lot of problems to maintain and make a decision about the road marking. In this paper, literature review and field investigation about the road marking are carried out from the viewpoint of road safe and the propriety in retroreflective performance of the road marking is grasped. Also, improvement methods about retroreflective performance of the road marking are proposed on the basis of the result in field investigation.

• Journal of Positioning, Navigation, and Timing
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• 제9권1호
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• pp.23-31
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• 2020

It is essential to estimate the vehicle localization for an autonomous safety driving. In particular, since LIDAR provides precise scan data, many studies carried out to estimate the vehicle localization using LIDAR and pre-generated map. The road marking always exists on the road because of provides driving information. Therefore, it is often used for map information. In this paper, we propose to generate the Gaussian mixture map based on road-marking information and localization method using this map. Generally, the probability distributions map stores the single Gaussian distribution for each grid. However, single resolution probability distributions map cannot express complex shapes when grid resolution is large. In addition, when grid resolution is small, map size is bigger and process time is longer. Therefore, it is difficult to apply the road marking. On the other hand, Gaussian mixture distribution can effectively express the road marking by several probability distributions. In this paper, we generate Gaussian mixture map and perform vehicle localization using Gaussian mixture map. Localization performance is analyzed through the experimental result.

• 한국도로학회논문집
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• 제17권3호
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• pp.59-68
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• 2015

PURPOSES : This study suggests the application of glow line marking technology for reducing traffic accidents at nighttime. METHODS : In this study, using a statistical analysis, we analyzed the characteristics of traffic accidents occurring at nighttime. Next, the strength, weakness, opportunity, and threat (SWOT) factors were derived based on a current-status analysis of glow line marking technology and road environments. An SO strategy, ST strategy, WO strategy, and WT strategy were established in accordance with the four SWOT factors. RESULTS : This study suggests that the following strategies should be promoted to apply glow line marking technology to a road environment: 1) an activation strategy for the technological development of glow line markings for a new paradigm in reducing traffic accidents, 2) a benefit enhancement strategy applying glow line marking technology in places where nighttime traffic accidents frequently occur, 3) a strategy for the expansion of glow line marking by replacing streetlights, and 4) a strategy for enhancing road applications through the development of various line marking methods in consideration of both performance and costs. CONCLUSIONS : The application of glow line markings in a road environment can contribute to a reduction of traffic accidents at nighttime, and aid energy savings from the replacement of streetlights.

• 대한임베디드공학회논문지
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• 제11권5호
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• pp.313-323
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• 2016

With the development of autonomous vehicle, there has been active research on advanced driver assistance system for road marking detection using vision sensor and 3D Laser scanner. However, vision sensor has the weak points that detection is difficult in situations involving severe illumination variance, such as at night, inside a tunnel or in a shaded area; and that processing time is long because of a large amount of data from both vision sensor and 3D Laser scanner. Accordingly, this paper proposes a road marking detection and classification method using single 2D Laser scanner. This method road marking detection and classification based on accumulation distance data and intensity data acquired through 2D Laser scanner. Experiments using a real autonomous vehicle in a real environment showed that calculation time decreased in comparison with 3D Laser scanner-based method, thus demonstrating the possibility of road marking type classification using single 2D Laser scanner.

• 한국자동차공학회논문집
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• 제22권7호
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• pp.107-116
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• 2014

This paper presents camera-based road surface marking detection methods suited to sensor fusion-based positioning system that consists of low-cost GPS (Global Positioning System), INS (Inertial Navigation System), EDM (Extended Digital Map), and vision system. The proposed vision system consists of two parts: lane marking detection and RSM (Road Surface Marking) detection. The lane marking detection provides ROIs (Region of Interest) that are highly likely to contain RSM. The RSM detection generates candidates in the regions and classifies their types. The proposed system focuses on detecting RSM without false detections and performing real time operation. In order to ensure real time operation, the gating varies for lane marking detection and changes detection methods according to the FSM (Finite State Machine) about the driving situation. Also, a single template matching is used to extract features for both lane marking detection and RSM detection, and it is efficiently implemented by horizontal integral image. Further, multiple step verification is performed to minimize false detections.

• 제어로봇시스템학회논문지
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• 제18권1호
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• pp.62-68
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• 2012

In this paper, a detection method of a pedestrian safety road marking was proposed. The proposed algorithm uses laser range and reflectivity of a range finder (LRF). For a detection of crosswalk marking and stop line, the DFT (Discrete Fourier Transform) of reflectivity and cross-correlation method between the reference replica and the measured reflectivity are used. A speed bump is detected through measuring an altitude difference of two LRFs which have the different tilted angle. Furthermore, we proposed a velocity constrained a detection method of a speed bump. Finally, the proposed methods are tested in on-line, on the pavement of a road. The considered road markings are wholly detected. The localization errors of both road markings are smaller than 0.4 meter.

• 한국재난정보학회 논문집
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• 제4권2호
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• pp.68-91
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• 2008

Our country is consuming huge source of revenue to improve geometric structure of road with a view to improve safety of the road. However, it is more efficient to provide high-quality pavement markings to the road users. For this purpose, in this study, it is considered the optical theory related to retroreflectivity of pavement marking along with the our country's study literature and foreign. And also considered ur country standard related to pavement marking, made pavement marking sample and measured retroreflectivety. For the experiment, it is selected colors of normal temperature-type paints, grading and content of glass bead as experiment factors. After it is made the same conditions like construction spot, measured retroreflectivity according to the combination of factors and analyzed the optimization of factors.

• 한국도로학회논문집
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• 제18권4호
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• pp.69-75
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• 2016

PURPOSES : In this study, we evaluated changes in the retroreflectivity and luminance of phosphorescent road line markings with changes in glass beads and line marking thickness. METHODS : The color of line markings affects their retroreflectivity. Using a chromaticity test, we conducted the analysis of whether phosphorescent road line markings adhered to the "KS M 6080" standard. Then, we measured the dry retroreflectivity and wet retroreflectivity for various glass bead refractive indices. We conducted wet retroreflectivity test using the EN 1436 standard as the basis. We also conducted luminance tests for different glass bead refractive indices and line marking thicknesses. RESULTS : 1. Phosphorescent road line markings specimens satisfied the "KS M 6080" standard. 2. In dry retroreflectivity test, phosphorescent road line markings sprayed with glass beads satisfied the national police agency standard ($240mcd/(m^2{\cdot}Lux)$). Wet retroreflectivity test results showed that except for one type of No.1 glass beads, phosphorescent road line markings specimens sprayed with glass beads of one type of No.3 and two types of No.1 satisfied the national police agency standard ($100mcd/(m^2{\cdot}Lux)$). 3. Phosphorescent road line markings had higher retroreflectivity than non-phosphorescent road line markings in the dry condition. 4. Phosphorescent road line markings sprayed with glass beads demonstrated improved luminance. Luminance increased with higher glass bead refractive index and with increased line marking thickness. However, when the thickness crossed a certain threshold, phosphorescence ceased to increase; this is a characteristic of the phosphorescence phenomenon. CONCLUSIONS : Visibility across short distances can be ensured when phosphorescent road line markings are sprayed with glass beads, because of the retroreflection phenomenon. It is also possible to ensure far visibility using phosphorescent road line markings.

• 반도체디스플레이기술학회지
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• 제21권1호
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• pp.22-26
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• 2022

This paper proposes a new method for the recognition of road surface marks and numbers. The proposed method designates a region of interest on the road surface without first detecting a lane. The road surface markings are extracted by location and size using a connection component analysis. Distortion due to the perspective effect is minimized by normalizing the size of the road markings. The road surface marking of the connected component is recognized by matching it with the stored road marking templates. The proposed method is implemented using C language in Raspberry Pi 4 system with a camera module for a real-time image processing. The system was fixedly installed in a moving vehicle, and it recorded a video like a vehicle black box. Each frame of the recorded video was extracted, and then the proposed method was tested. The results show that the proposed method is successful for the recognition of road surface marks and numbers.

• 한국결정성장학회지
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• 제29권5호
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• pp.229-237
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• 2019

야간이나 악천후에서도 높은 도로의 차선인식률을 유지하기 위해, 통상 재귀반사(retro-reflectivity) 특성이 뛰어난 고 굴절률의 글라스비드(glass bead)를 도로표시 페인트 위에 도포한다. 국가별로 일반 도로표시의 재귀반사 기준이 다르며, 국내는 백색광 기준으로 $240mcd/m^2{\cdot}lux$, 선진국들은 $250{\sim}300mcd/m^2{\cdot}lux$로 규정되어있다. 본 논문에서는 도로표시 관련 규정과 글라스비드에 대한 동향에 대하여 고찰하고, 향후 자율주행차량 상용화에 대비하여 규정 기준치 및 글라스비드물성 향상 필요성에 대하여 논의하였다.