• 자동차안전학회지
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• 제8권4호
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• pp.31-37
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• 2016

Since real road experiments have many restrictions, a multi-vehicle traffic simulator can be an effective tool to develop and evaluate fully automated driving systems. This paper presents multi-vehicle environment simulation tool to develop and evaluate motorway automated driving systems. The proposed simulation tool consists of following two main parts: surrounding vehicle model and environment sensor model. The surrounding vehicle model is designed to quickly generate rational complex traffic situations of motorway. The environment sensor model depicts uncertainty of environment sensor. As a result, various traffic situations with uncertainty of environment sensor can be proposed by the multi-vehicle environment simulation tool. An application to automated driving system has been conducted. A lane changing algorithm is evaluated by performance indexes from the multi-vehicle environment simulation tool.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2002년도 Proceedings of International Symposium on Remote Sensing
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• pp.400-406
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• 2002

Recently, the enormous increase in the volume of remotely sensed data is being acquired by an ever-growing number of earth observation satellites. The combining of diversely sourced imagery together is an important requirement in many applications such as data fusion, city modeling and object recognition. Aerial triangulation is a procedure to reconstruct object space from imagery. However, since the different kinds of imagery have their own sensor model, characteristics, and resolution, the previous approach in aerial triangulation (or georeferencing) is performed on a sensor model separately. This study evaluated the advantages of aerial triangulation of large number of images from multi-sensors simultaneously. The incorporated multi-sensors are frame, push broom, and whisky broom cameras. The limits and problems of push-broom or whisky broom sensor models can be compensated by combined triangulation with frame imagery and vise versa. The reconstructed object space from multi-sensor triangulation is more accurate than that from a single model. Experiments conducted in this study show the more accurately reconstructed object space from multi-sensor triangulation.

• 대한원격탐사학회지
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• 제19권3호
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• pp.255-261
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• 2003

Recently, the enormous increase in the volume of remotely sensed data is being acquired by an ever-growing number of earth observation satellites. The combining of diversely sourced imagery together is an important requirement in many applications such as data fusion, city modeling and object recognition. Aerial triangulation is a procedure to reconstruct object space from imagery. However, since the different kinds of imagery have their own sensor model, characteristics, and resolution, the previous approach in aerial triangulation (or georeferencing) is purformed on a sensor model separately. This study evaluated the advantages of aerial triangulation of large number of images from multi-sensors simultaneously. The incorporated multi-sensors are frame, push broom, and whisky broom cameras. The limits and problems of push-broom or whisky broom sensor models can be compensated by combined triangulation with other sensors The reconstructed object space from multi-sensor triangulation is more accurate than that from a single model. Experiments conducted in this study show the more accurately reconstructed object space from multi-sensor triangulation.

• 대한전기학회논문지:시스템및제어부문D
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• 제55권9호
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• pp.414-419
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• 2006

This paper presents a design of a multi-sensor data fusion filter for a Flight Test System. The multi-sensor data consist of positional information of the target from radars and a telemetry system. The data fusion filter has a structure of a federated Kalman filter and is based on the Singer dynamic target model. It consists of dedicated local filter for each sensor, generally operating in parallel, plus a master fusion filter. A fault detection and correction algorithms are included in the local filter for treating bad measurements and sensor faults. The data fusion is carried out in the fusion filter by using maximum likelihood estimation algorithm. The performance of the designed fusion filter is verified by using both simulation data and real data.

• 한국산업융합학회 논문집
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• 제21권4호
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• pp.167-174
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• 2018

Presently, the exploration of an unknown environment is an important task for the development of mobile robots and mobile robots are navigated by means of a number of methods, using navigating systems such as the sonar-sensing system or the visual-sensing system. To fully utilize the strengths of both the sonar and visual sensing systems, In mobile robotics, multi-sensor data fusion(MSDF) became useful method for navigation and collision avoiding. Moreover, their applicability for map building and navigation has exploited in recent years. In this paper, as the preliminary step for developing a multi-purpose autonomous carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as ultrasonic sensor, IR sensor for mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within indoor environments. Simulation results with a mobile robot will demonstrate the effectiveness of the discussed methods.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.207-211
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• 2004

The performance of an inductive position sensor has approved by previous research papers. In this paper, magnetic circuit model of a ring-type multi-pole insuctive position sensor is described. The magnetic circuit model is required to design in ductive position sensor as well as draw a fault tolerance algorithm. Using the magnetic circuit theory, we derived the relationship between voltage applied and flux density in the normal air-gap. By idealizing the modulation/demodulation processes of signal processing circuit, sensor gain with respect to change of displacement is theoretically calculation using the magnetic circuit model, which validate the theoretical derivation.

• Journal of Communications and Networks
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• 제14권4호
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• pp.443-450
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• 2012

As for cluster-based wireless sensor networks (WSNs), cluster lifetime is one of the most important subjects in recent researches. Besides reducing the energy consumptions of the clusters, it is necessary to make the clusters achieve equal lifetimes so that the whole network can survive longer. In this paper, we focus on the cluster lifetimes in multi-hop WSNs with cooperative multi-input single-output scheme. With a simplified model of multi-hop WSNs, we change the transmission schemes, the sizes and transmission distances of clusters to investigate their effects on the cluster lifetimes. Furthermore, linear and uniform data aggregations are considered in our model. As a result, we analyze the cluster lifetimes in different situations and discuss the requirements on the sizes and transmission distances of clusters for equal lifetimes.

• International Journal of Control, Automation, and Systems
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• 제3권2호
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• pp.173-182
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• 2005

In this paper, a target tracking algorithm for tracking maneuvering vehicles is presented. The overall algorithm belongs to the category of an interacting multiple-model (IMM) algorithm used to detect multiple targets using fused information from multiple sensors. First, two kinematic models are derived: a constant velocity model for linear motions, and a constant-speed turn model for curvilinear motions. Fpr the constant-speed turn model, a nonlinear information filter is used in place of the extended Kalman filter. Being equivalent to the Kalman filter (KF) algebraically, the information filter is extended to N-sensor distributed dynamic systems. The model-matched filter used in multi-sensor environments takes the form of a federated nonlinear information filter. In multi-sensor environments, the information-based filter is easier to decentralize, initialize, and fuse than a KF-based filter. In this paper, the structural features and information sharing principle of the federated information filter are discussed. The performance of the suggested algorithm using a Monte Carlo simulation under the two patterns is evaluated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.23.3-23
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• 2001

The main object of this work is the development of an intelligent multi-sensor integration and fusion model that uses fuzzy inference system. Sensor data from different types of sensors are integrated and fused together based on the confidence which is not typically used in traditional data fusion methods. The information is fed as input to a fuzzy inference system(FIS). The output of the FIS is weights that are assigned to the different sensor data reflecting the confidence En the sensor´s behavior and performance. We interpret a type of fuzzy inference system as an interpolator of B-spline hypersurfaces. B-spline basis functions of different orders are regarded as a class of membership functions. This paper presents a model that ...

• 전기학회논문지
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• 제63권11호
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• pp.1551-1558
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• 2014

We propose a multi-rate sensor fusion of vision and radar using Kalman filter to solve problems of asynchronized and multi-rate sampling periods in object vehicle tracking. A model based prediction of object vehicles is performed with a decentralized multi-rate Kalman filter for each sensor (vision and radar sensors.) To obtain the improvement in the performance of position prediction, different weighting is applied to each sensor's predicted object position from the multi-rate Kalman filter. The proposed method can provide estimated position of the object vehicles at every sampling time of ECU. The Mahalanobis distance is used to make correspondence among the measured and predicted objects. Through the experimental results, we validate that the post-processed fusion data give us improved tracking performance. The proposed method obtained two times improvement in the object tracking performance compared to single sensor method (camera or radar sensor) in the view point of roots mean square error.