• KIPS Transactions on Software and Data Engineering
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• v.12 no.9
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• pp.407-418
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• 2023

The Multi-Object Goal Visual Navigation(MultiOn) is a visual navigation task in which an agent must visit to multiple object goals in an unknown indoor environment in a given order. Existing models for the MultiOn task suffer from the limitation that they cannot utilize an integrated view of multimodal context because use only a unimodal context map. To overcome this limitation, in this paper, we propose a novel deep neural network-based agent model for MultiOn task. The proposed model, MCFMO, uses a multimodal context map, containing visual appearance features, semantic features of environmental objects, and goal object features. Moreover, the proposed model effectively fuses these three heterogeneous features into a global multimodal context map by using a point-wise convolutional neural network module. Lastly, the proposed model adopts an auxiliary task learning module to predict the observation status, goal direction and the goal distance, which can guide to learn the navigational policy efficiently. Conducting various quantitative and qualitative experiments using the Habitat-Matterport3D simulation environment and scene dataset, we demonstrate the superiority of the proposed model.

• Journal of Korean Tunnelling and Underground Space Association
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• v.21 no.1
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• pp.167-175
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• 2019

To effectively deal with the fire in tunnel which is mostly the vehicle fire, it's more important to suppress the fire at early stage. In urban tunnel, however, accessibility to the scene of fire by the fire fighter is very limited due to severe traffic congestion which causes the difficulty with firefighting activity in timely manner and such a problem would be further worsened in underground road (double-deck tunnel) which has been increasingly extended and deepened. In preparation for the disaster in Korea, the range of life safety facilities for installation is defined based on category of the extension and fire protection referring to risk hazard index which is determined depending on tunnel length and conditions, and particularly to directly deal with the tunnel fire, fire extinguisher, indoor hydrant and sprinkler are designated as the mandatory facilities depending on category. But such fire extinguishing installations are found inappropriate functionally and technically and thus the measure to improve the system needs to be taken. Particularly in a double-deck tunnel which accommodates the traffic in both directions within a single tunnel of which section is divided by intermediate slab, the facility or the system which functions more rapidly and effectively is more than important. This study, thus, is intended to supplement the problems with existing tunnel life safety system (fire extinguishing) and develop the remote-controlled automatic fire extinguishing system which is optimized for a double-deck tunnel. Consequently, the system considering low floor height and extended length as well as indoor hydrant for a wide range of use have been developed together with the performance verification and the process for commercialization before applying to the tunnel is underway now.