• Proceedings of the Korea Information Processing Society Conference
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• 2015.10a
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• pp.1309-1312
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• 2015

본 논문에서는 현대 자율 주행 차량 경진대회에 적용되었던 LIDAR 기반의 다중 물체 추적 알고리즘을 소개한다. 물체 추적은 자율 주행 차량이 외부 환경을 인지하는데 중요한 역할을 한다. 본 논문의 물체 추적 알고리즘은 동시에 여러 개의 물체를 추적할 수 있도록 Multiple Data Association 방식을 사용하였고 순수하게 LIDAR만으로 동작하기 때문에 밤과 낮 모든 경우에 적용 가능하다. 알고리즘은 Clustering, Data Association, State Estimation, Data Arrangement 총 4단계로 이루어져 있으며 본 논문에서는 각 단계별로 알고리즘의 동작 방식을 소개한다. 실제 구현에는 Velodyne사의 HDL-32e이 사용되었고 실제 주행에서 교차로 내의 차량 추적 및 선행 차량의 동향을 추적하는데 적용되었다.

• Proceedings of the Korea Information Processing Society Conference
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• 2019.10a
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• pp.80-83
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• 2019

지능형 로봇 기술은 더 나은 생활을 위한 현대 기술의 집약체이다. 산업, 생활, 정밀 기술 등 다양한 분야에서 응용이 가능한 확장성 넓은 분야이다. 해당 분야의 추적 기술은 LIDAR를 활용하는 방향으로 활발한 연구가 진행 중이다. LIDAR는 사방의 거리를 정확하게 측정할 수 있는 유용한 센서지만, LIDAR만으로는 로봇의 성능을 최대화할 수는 없다. 본 논문은 LIDAR 추적을 연장하여 Vision 기술의 융합에 관련하여 서술한다. Vision 기술의 융합을 통한 향상된 기능을 가지는 추적 로봇 설계 방법을 제안한다.

• Korean Journal of Remote Sensing
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• v.23 no.3
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• pp.199-209
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• 2007

Traditionally, aerial images have been used as main sources for compiling topographic maps. In recent years, lidar data has been exploited as another type of mapping data. Regarding their performances, aerial imagery has the ability to delineate object boundaries but omits much of these boundaries during feature extraction. Lidar provides direct information about heights of object surfaces but have limitations with respect to boundary localization. Considering the characteristics of the sensors, this paper proposes an approach to extracting buildings from lidar and aerial imagery, which is based on the complementary characteristics of optical and range sensors. For detecting building regions, relationships among elevation contours are represented into directional graphs and searched for the contours corresponding to external boundaries of buildings. For generating building models, a wing model is proposed to assemble roof surface patches into a complete building model. Then, building models are projected and checked with features in aerial images. Experimental results show that the proposed approach provides an efficient and accurate way to extract building models.

• Journal of Auto-vehicle Safety Association
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• v.14 no.2
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• pp.51-56
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• 2022

This paper presents an Ground Segmentation algorithm to eliminate unnecessary Lidar Point Cloud Data (PCD) in an autonomous driving system. We consider Random Sample Consensus (Ransac) Algorithm to process lidar ground data. Ransac designates inlier and outlier to erase ground point cloud and classified PCD into two parts. Test results show removal of PCD from ground area by distinguishing inlier and outlier. The paper validates ground rejection algorithm in real time calculating the number of objects recognized by ground data compared to lidar raw data and ground segmented data based on the z-axis. Ground Segmentation is simulated by Robot Operating System (ROS) and an analysis of autonomous driving data is constructed by Matlab. The proposed algorithm can enhance performance of autonomous driving as misrecognizing circumstances are reduced.

• Proceedings of the Korea Air Pollution Research Association Conference
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• 2005.11a
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• pp.202-204
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• 2005

• Proceedings of the Korea Air Pollution Research Association Conference
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• 1999.04a
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• pp.314-315
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• 1999

• Proceedings of the Optical Society of Korea Conference
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• 1996.09a
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• pp.35-35
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• 1996

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.29 no.1
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• pp.55-62
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• 2011

Amidst the raising of climate change in relation to the earth's environment as an international issue, there is a growing interest in forest resources. In particular, Korea faces a period in which we need to control carbon release pursuant to the Convention on Climate Change and the enforcement of the Kyoto Protocol; therefore, the importance of forests is becoming greater. Recently, there has been a focus on light detection and ranging (Lidar) which is a means of acquiring in a short time various necessary pieces of information for forest management as three dimensional geospatial information. In this study, the carbon absorption of a forest was measured by using the Lidar data obtained from the Lidar. Carbon absorption release was calculated on the basis of three criteria involving the minimum height of a tree, the density of the forest, and the minimum area of the forest, which are items proposed by the Forest resources surveyor. Through this study, a method of extracting the carbon absorption of a forest area using the Lidar data quantitatively was confirmed.

• Korean Journal of Remote Sensing
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• v.31 no.3
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• pp.267-279
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• 2015

In the development of autonomous vehicles, the importance of LIDAR sensors becomes larger. For sensor selection or algorithm development, it is difficult to test expensive LIDAR sensors mounted on a vehicle under various driving environment. In this study, we developed a simulator that is generally applicable for various vehicle LIDAR sensors based on the generalized geometric modeling of the common processes associated with vehicle LIDAR sensors. By configuring this simulator with the specific sensors being widely used, we performed the data simulation and quality analysis. Also, we applied the simulation data to obstacle detection and evaluated the applicability of the selected sensor. The developed simulator enables various experiments and algorithm development in parallel with hardware implementation prior to the deployment and operation of a sensor.

• Current Optics and Photonics
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• v.2 no.1
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• pp.15-22
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• 2018

To measure atmospheric temperature, water vapor, and aerosol simultaneously, an efficient multi-function Raman lidar using an ultraviolet-wavelength laser has been developed. A high-performance spectroscopic box that utilizes multicavity interference filters, mounted sequentially at small angles of incidence, is used to separate the lidar return signals at different wavelengths, and to extract the signals with high efficiency. The external experiments are carried out for simultaneous detection of atmospheric temperature, water vapor, and aerosol extinction coefficient in Beijing, under clear and hazy weather conditions. The vertical profiles of temperature, water vapor, and aerosol extinction coefficient are analyzed. The results show that for an integration time of 5 min and laser energy of 200 mJ, the mean deviation between measurements obtained by lidar and radiosonde is small, and the overall trend is similar. The statistical temperature error for nighttime is below 1 K up to a height of 6.2 km under clear weather conditions, and up to a height of 2.5 km under slightly hazy weather conditions, with 5 min of observation time. An effective range for simultaneous detection of temperature and water vapor of up to 10 km is achieved. The temperature-inversion layer is found in the low troposphere. Continuous observations verify the reliability of Raman lidar to achieve real-time measurement of atmospheric parameters in the troposphere.