• Journal of Auto-vehicle Safety Association
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• v.14 no.2
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• pp.20-25
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• 2022

This paper represents an adaptive Region of Interest (ROI) decision for real-time performance in an autonomous driving perception module. Since the whole automated driving system consists of numerous modules and subdivisions of module occur, it is necessary to consider the characteristics, complexity, and limitations of each module. Furthermore, Light Detection And Ranging (Lidar) sensors require a considerable amount of time. In view of these limitations, division of submodule is inevitable to represent high real-time performance for stable system. This paper proposes ROI to reduce the number of data respect to computation time. ROI is set by a road's design speed and the corresponding ROI is applied differently to each vehicle considering its speed. The simulation model is constructed by ROS, and overall data analysis is conducted by Matlab. The algorithm is validated using real-time driving data in urban environment, and the result shows that ROI provides low computational costs.

• Spatial Information Research
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• v.22 no.1
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• pp.75-84
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• 2014

Power lines are one of the main obstacles causing an aircraft crash and thus their realtime detection is significantly important during flight. To avoid such flight obstacles, the use of LIDAR has been recently increasing thanks to its advantages that it is less sensitive to weather conditions and can operate in day and night. In this study, we suggest a fast method to detect power lines from LIDAR data for flight obstacle avoidance. The proposed method first extracts non-ground points by eliminating the points reflected from ground surfaces using a filtering process. Second, we calculate the eigenvalues for the covariance matrix from the coordinates of the generated non-ground points and obtain the ratio of eigenvalues. Based on the ratio of eigenvalues, we can classify the points on a linear structure. Finally, among them, we select the points forming horizontally long straight as power-line points. To verify the algorithm, we used both real and simulated data as the input data. From the experimental results, it is shown that the average detection rate and time are 80% and 0.2 second, respectively. If we would improve the method based on the experiment results from the various flight scenario, it will be effectively utilized for a flight obstacle avoidance system.

• Korean Journal of Remote Sensing
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• v.32 no.5
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• pp.413-421
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• 2016

In this study, correlations between Moderate Resolution Imaging Spectroradiometer (MODIS) derived Aerosol Optical Depth (AOD) values and surface-level $PM_{2.5}$ concentrations at Gosan, Korea have been investigated. For this purpose, data from various instruments, such as satellite, sunphotometer, Optical Particle Counter (OPC), and Micro Pulse Lidar (MPL) on 14-24 October 2009 were used. Direct comparison between sunphotometer measured AOD and surface-level $PM_{2.5}$ concentrations showed a $R^2=0.48$. Since the AERONET L2.0 data has significant number of observations with high AOD values paired to low surface-level $PM_{2.5}$ values, which were believed to be the effect of thin cloud or Asian dust. Correlations between MODIS AOD and $PM_{2.5}$ concentration were increased by screening thin clouds and Asian dust cases by use of aerosol profile data on Micro-Pulse Lidar Network (MPLNet) as $R^2$ > 0.60. Our study clearly demonstrates that satellite derived AOD is a good surrogate for monitoring atmospheric PM concentration.

• Spatial Information Research
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• v.20 no.3
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• pp.27-38
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• 2012

As the necessity of forest conservation and management has been increased, various forest studies using LIDAR data have been actively performed. These studies often utilize the tree height as an important parameter to measure the forest quantitatively. This study thus attempt to apply two representative methods to estimate tree height from airborne LIDAR data and compare the results. The first method based on the detection of the individual trees using a local maximum filter estimates the number of trees, the position and heights of the individual trees, and the mean tree height. The other method estimates the maximum and mean tree height, and the crown mean height for each grid cell or the entire area from the canopy height model (CHM) and height histogram. In comparison with the field measurements, 76.6% of the individual trees are detected correctly; and the estimated heights of all trees and only conifer trees show the RMSE of 1.91m and 0.75m, respectively. The tree mean heights estimated from CHM retain about 1~2m RMSE, and the histogram method underestimates the tree mean height with about 0.6m. For more accurate derivation of diverse forest information, we should select and integrate the complimentary methods appropriate to the tree types and estimation parameters.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.3
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• pp.305-312
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• 2012

This paper aims at improving the accuracy and computational efficiency in reconstructing building boundaries from airborne Lidar points. We proposed an adaptive convex hull algorithm, which is a modified version of local convex hull algorithm in three ways. The candidate points for boundary are first selected to improve efficiency depending on their local density. Second, a searching-space is adjusted adaptively, based on raw data structure, to extract boundary points more robustly. Third, distance between two points and their IDs are utilized in detecting the seed points of inner boundary to distinguish between inner yards and inner holes due to errors or occlusions. The practicability of the approach were evaluated on two urban areas where various buildings exist. The proposed method showed less shape-dissimilarity(8.5%) and proved to be two times more efficient than the other method.

• Journal of Korean Society for Geospatial Information Science
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• v.20 no.4
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• pp.117-125
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• 2012

Although many studies have been conducted to extract buildings from airborne lidar data, most of them assume that all the boundaries of a building are straight line segments. This makes it difficult to model building boundaries containing curved segments correctly. This paper aims to model buildings containing curved segments as combination of straight lines and arcs. First, two sets of boundary points are extracted by adaptive convex hull algorithm and local convex hull algorithm with a larger radius. Then, arc segments are determined by average spacing of boundary points and intersection ratio of perpendicular lines. Finally, building boundary is modeled through regularization of least squares line or circle fitting. The experimental results showed that the proposed method can model the curved building boundaries as arc segments correctly by completeness of 69% and correctness of 100%. The approach will be utilized effectively to create automatically digital map that meets the conditions of the Korean digital mapping.

• Journal of Korean Society for Geospatial Information Science
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• v.16 no.2
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• pp.87-95
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• 2008

Ladar (Laser Detection And Ranging, Lidar) is a sensor to acquire precise distances to the surfaces of target region using laser signals, which can be suitably applied to ATD (Automatic Target Detection) for guided missiles or aerial vehicles recently. It provides a range image in which each measured distance is expressed as the brightness of the corresponding pixel. Since the precise 3D models can be generated from the Ladar range image, more robust identification and recognition of the targets can be possible. If we simulate the data of Ladar sensor, we can efficiently use this simulator to design and develop Ladar sensors and systems and to develop the data processing algorithm. The purposes of this study are thus to simulate the signals of a Ladar sensor based on linear frequency modulation and to create range images from the simulated Ladar signals. We first simulated the laser signals of a Ladar using FM chirp modulator and then computed the distances from the sensor to a target using the FFT process of the simulated signals. Finally, we created the range image using the distances set.

• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• v.8 no.3
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• pp.945-953
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• 2018

In this paper, we use 3-D LIDAR for obstacle detection and avoidance maneuver for autonomous unmanned operation. It is aimed to avoid obstacle avoidance in unmanned water under marine condition using only single sensor. 3D lidar uses Quanergy's M8 sensor to collect surrounding obstacle data and includes layer information and intensity information in obstacle information. The collected data is converted into a three-dimensional Cartesian coordinate system, which is then mapped to a two-dimensional coordinate system. The data including the obstacle information converted into the two-dimensional coordinate system includes noise data on the water surface. So, basically, the noise data generated regularly is defined by defining a hypothetical region of interest based on the assumption of unmanned water. The noise data generated thereafter are set to a threshold value in the histogram data calculated by the Vector Field Histogram, And the noise data is removed in proportion to the amount of noise. Using the removed data, the relative object was searched according to the unmanned averaging motion, and the density map of the data was made while keeping one cell on the virtual grid map. A polar histogram was generated for the generated obstacle map, and the avoidance direction was selected using the boundary value.

• Journal of Auto-vehicle Safety Association
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• v.9 no.4
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• pp.32-37
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• 2017

For automated vehicles, the integrity and fault tolerance of environment perception sensor have been an important issue. This paper presents radar, vision, lidar(laser radar) fusion-based fault detection algorithm for autonomous vehicles. In this paper, characteristics of each sensor are shown. And the error of states of moving targets estimated by each sensor is analyzed to present the method to detect fault of environment sensors by characteristic of this error. Each estimation of moving targets isperformed by EKF/IMM method. To guarantee the reliability of fault detection algorithm of environment sensor, various driving data in several types of road is analyzed.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2010.04a
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• pp.227-229
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• 2010

This study presents an application of the 3D patch extraction method which is based on gradient-driven properties to obtain 3D planar patches over the terrain and man-made objects from lidar data. The method which was exploited in this study is composed of a sequence of processes: segmentation by slope, initiation of triggering patches by mode selection, and expansion of the triggering patches. Since urban areas contain many planar regions over the terrain surface, application of the method has been experimented to extract 3D planar patches not only from non-terrain objects but also from the terrain. The experimental result shows that the method is efficient to acquire 3D planar patches.