• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.20 no.6
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• pp.101-107
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• 2020

Road surface measurement is an essential process for quantifying the degree and displacement of roughness in road surface management. For safer road surface management and quick maintenance, it is important to accurately measure the road surface while mounted on a vehicle. In this paper, we propose a sophisticated road surface measurement system that can be measured on a moving vehicle. The proposed road surface measurement system supports more accurate measurement of the road surface by using a high-performance line laser sensor. It is also possible to measure the transverse and longitudinal profile by matching the position information acquired from the RTK, and the velocity adaptive update algorithm allows a manager to monitor in a real-time manner. In order to evaluate the proposed system, the Gocator laser sensor, MRP module, and NVIDIA Xavier processor were mounted on a test mobile and tested on the road surface. Our evaluation results demonstrate that our system measures accurate profile base on the MSE. Our proposed system can be used not only for evaluating the condition of roads but also for evaluating the impact of adjacent excavation.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.10
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• pp.1915-1923
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• 2011

For automated guidance control of a magnetically guided-all wheel steered vehicle, it is necessary to have information about position and orientation of the vehicle, and deviations from the reference path in real time. The magnet reference system considered here consists of three magnetic sensors mounted on the vehicle and magnetic markers, which are non-equidistantly buried in the road. This paper presents an observer to estimate such position and orientation at the center of gravity of the vehicle. This algorithm is based on the simple kinematic model of vehicle and uses the data of wheel velocity, steering angle, and the discrete measurements of marker positions. Since this algorithm requires the exact values of initial states, we have also proposed an algorithm of determining the initial position and orientation from the 16 successive magnet pole data, which are given by the magnetic measurement system(MMS). The proposed algorithm is capable of continuing to estimate for the case that the magnetic sensor fail to measure up to three successive magnets. It is shown through experimental data that the proposed algorithm works well within permissible error range.

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2005.11a
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• pp.190-200
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• 2005

In this paper, the image modelling of road's lane markings is established using view frustum(VF) modeling. This algorithm also involve the real time processing of the 3D position coordinate and the distance data from the camera to the points on the 3D world coordinate by the camera calibration. In order to reduce their measurement error, an useful algorithm for which analyze the geometric variations clue to traveling vehicle's fluctuation using VF model is proposed. In experiments, without correction, for instance, the $0.4^{\circ}$ of pitching rotation gives the error of $0.4^{\sim}0.6m$ at the distance of 10m, but the more far distance cause exponentially the more error. We confirmed that this algorithm can be reduced less than 0.1m of error at the same condition.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.31 no.4
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• pp.269-275
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• 2013

Recently, importance of pedestrian road network is getting emphasized as it is possible to provide mobile device users with both route guidance services and surrounding spatial information. However, it costs a tremendous amount of budget for generating and renovating pedestrian road network nationally, which hinder further advances of these services. Hence, algorithms extracting pedestrian road network automatically based on raster data are needed. On the other hand, road dataset generated from raster data usually has unnecessary vertices which lead to maintenance disutility such as excessive turns and increase in data memory. Therefore, this study proposed a method of selecting a proper threshold automatically for separate road entity using not only Douglas-Peucker algorithm but also road attribute data of digital map in order to remove redundant vertices, which maximizes line simplification efficiency and minimizes distortion of shape of roads simultaneously. As a result of the test, proposed method was suitable for automatic line simplification in terms of reduction ratio of vertices and accuracy of position.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.9
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• pp.1697-1702
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• 2017

This paper proposes a forward vehicle movement estimation algorithm for the image-based forward collision warning. The road region in the acquired image is designated as a region of interest (ROI) and a distance look up table (LUT) is made in advance. The distance LUT shows horizontal and vertical real distances from a reference pixel as a test vehicle position to any pixel as a position of a vehicle on the ROI. The proposed algorithm detects vehicles in the ROI, assigns labels to them, and saves their distance information using the distance LUT. And then the proposed algorithm estimates the vehicle movements such as approach distance, side-approaching and front-approaching velocities using distance changes between frames. In forward vehicle movement estimation test using road driving videos, the proposed algorithm makes the valid estimation of average 98.7%, 95.9%, 94.3% in the vehicle movements, respectively.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.11
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• pp.123-132
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• 1998

This paper presents a road detection technique for spaceborne synthetic aperture radar (SAR) images. Roads are important cartographic features. We incorporate an active contour model called snake as a model for the road and define a new external energy for snake which is appropriate for the road. Detecting roads in spaceborne SAR images is very difficult without other information. In this paper, digital maps are utilized to obtain the initial position and shape for snake. Only approximate geodetic location of roads appearing in SAR images can be known through geocoding process and usual digital maps also have location errors. Therefore, there exist large location offsets between the two data. By introducing initial matching procedure, the errors are reduced significantly. Then we initialize the snake's shape using the roads extracted from digital map and minimize the energies of all snake points to detect roads. We outline two problems in detection and propose a method that mitigates them.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.20 no.4
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• pp.39-44
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• 2012

This paper propose a transmission method for "Transportation system" that can decide precise position under wide area road traffic environment. For precise position detecting, central station collect multiple receiver station's satellite navigation data and generate correction information. In this process, we need efficient real time transmission method for satellite navigation message that has variable data size. We propose real time data transmission method. This real time transmission method offer efficient processing structure for multiple receiver station's satellite navigation message. This paper explains proposed real time transmission method and proofs this transmission method.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.49.6-49
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• 2001

This paper describes a self-localization method for the mobile robot using panoramic view images. A panoramic view image has the information of location of the objects from the viewer robot and direction between the objects at a position. Among the sequence of panoramic view images, the target objects in the image like traffic signs, facade of a building, road signs, etc. locate in the real world so that robot´s position and direction deliver to localize from his view. With the previously captured panoramic images, the method calculates the distance and direction of the region of interest, corresponds the regions between the sequences, and identifies the location in the world. To obtain the region, vertical edge line segments

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.11a
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• pp.207-217
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• 2000

In this paper, we describe an image processing algorithm which is able to recognize the road lane. This algorithm performs to recognize the interrelation between AGV and the other vehicle. We experimented on AGV driving test with color CCD camera which is setup on the top of vehicle and acquires the digital signal. This paper is composed of two parts. One is image preprocessing part to measure the condition of the lane and vehicle. This finds the information of lines using RGB ratio cutting algorithm, the edge detection and Hough transform. The other obtains the situation of other vehicles using the image processing and viewport. At first, 2 dimension image information derived from vision sensor is interpreted to the 3 dimension information by the angle and position of the CCD camera. Through these processes, if vehicle knows the driving conditions which are angle, distance error and real position of other vehicles, we should calculate the reference steering angle.

• Spatial Information Research
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• v.14 no.2 s.37
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• pp.235-244
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• 2006

The MMS(Mobile Mapping System) using the vehicle equipped GPS, IMU and CCD Cameras is the effective system for the management of the road facilities, update of the digital map, and etc. The image, vehicle's 3 dimensional position and attitude information provided MMS is a important source for positioning objects included the image. In this research we applied the tracking technique to the specific object in image. The extraction of important object from immense MMS data makes more effectiveness in this system.