• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.7
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• pp.107-116
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• 2014

This paper presents camera-based road surface marking detection methods suited to sensor fusion-based positioning system that consists of low-cost GPS (Global Positioning System), INS (Inertial Navigation System), EDM (Extended Digital Map), and vision system. The proposed vision system consists of two parts: lane marking detection and RSM (Road Surface Marking) detection. The lane marking detection provides ROIs (Region of Interest) that are highly likely to contain RSM. The RSM detection generates candidates in the regions and classifies their types. The proposed system focuses on detecting RSM without false detections and performing real time operation. In order to ensure real time operation, the gating varies for lane marking detection and changes detection methods according to the FSM (Finite State Machine) about the driving situation. Also, a single template matching is used to extract features for both lane marking detection and RSM detection, and it is efficiently implemented by horizontal integral image. Further, multiple step verification is performed to minimize false detections.

• Korean Journal of Artificial Intelligence
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• v.11 no.3
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• pp.17-22
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• 2023

In this paper, we propose a black ice detection system using Convolutional Neural Networks (CNNs). Black ice poses a serious threat to road safety, particularly during winter conditions. To overcome this problem, we introduce a CNN-based architecture for real-time black ice detection with an encoder-decoder network, specifically designed for real-time black ice detection using thermal images. To train the network, we establish a specialized experimental platform to capture thermal images of various black ice formations on diverse road surfaces, including cement and asphalt. This enables us to curate a comprehensive dataset of thermal road black ice images for a training and evaluation purpose. Additionally, in order to enhance the accuracy of black ice detection, we propose a multi-scale dilation convolution feature fusion (MsDC-FF) technique. This proposed technique dynamically adjusts the dilation ratios based on the input image's resolution, improving the network's ability to capture fine-grained details. Experimental results demonstrate the superior performance of our proposed network model compared to conventional image segmentation models. Our model achieved an mIoU of 95.93%, while LinkNet achieved an mIoU of 95.39%. Therefore, it is concluded that the proposed model in this paper could offer a promising solution for real-time black ice detection, thereby enhancing road safety during winter conditions.

• Journal of Korea Multimedia Society
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• v.16 no.4
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• pp.430-443
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• 2013

The recognition of current position and road surrounding of car is very important to driver for safe driving. This paper presents the recognition technique of the road traveling environment using position information hiding and viewpoint transform that monitors the information of road furniture and signature and notifies them to driver. The proposed scheme generates the road images into which the position information are hided, from car camera and GPS module and provides the road information to driver through the viewpoint transformation and the road signature detection. The driving tests with camera and GPS module verified that the position information hiding takes about 66.5ms per frame, the detection rate of road signature is about 95.83%, and the road signature detection takes about 227.45ms per frame. Therefore, we know that the proposed scheme can recognize the road traveling environment on the road video with 15 frame rate.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.18 no.6
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• pp.155-163
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• 2019

This paper proposes a new methodology to recognize cracks on asphalt road surfaces using the image data obtained with drones. The target section was Yuseong-daero, the main highway of Daejeon. Furthermore, two object detection algorithms, such as Tiny-YOLO-V2 and Faster-RCNN, were used to recognize cracks on road surfaces, classify the crack types, and compare the experimental results. As a result, mean average precision of Faster-RCNN and Tiny-YOLO-V2 was 71% and 33%, respectively. The Faster-RCNN algorithm, 2Stage Detection, showed better performance in identifying and separating road surface cracks than the Yolo algorithm, 1Stage Detection. In the future, it will be possible to prepare a plan for building an infrastructure asset-management system using drones and AI crack detection systems. An efficient and economical road-maintenance decision-support system will be established and an operating environment will be produced.

• Korean Journal of Artificial Intelligence
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• v.11 no.4
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• pp.1-8
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• 2023

In this paper, we propose a black ice detection platform framework using Convolutional Neural Networks (CNNs). To overcome black ice problem, we introduce a real-time based early warning platform using CNN-based architecture, and furthermore, in order to enhance the accuracy of black ice detection, we apply a multi-scale dilation convolution feature fusion (MsDC-FF) technique. Then, we establish a specialized experimental platform by using a comprehensive dataset of thermal road black ice images for a training and evaluation purpose. Experimental results of a real-time black ice detection platform show the better performance of our proposed network model compared to conventional image segmentation models. Our proposed platform have achieved real-time segmentation of road black ice areas by deploying a road black ice area segmentation network on the edge device Jetson Nano devices. This approach in parallel using multi-scale dilated convolutions with different dilation rates had faster segmentation speeds due to its smaller model parameters. The proposed MsCD-FF Net(2) model had the fastest segmentation speed at 5.53 frame per second (FPS). Thereby encouraging safe driving for motorists and providing decision support for road surface management in the road traffic monitoring department.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.15 no.2
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• pp.786-799
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• 2021

Road damage detection is important for road maintenance. With the development of deep learning, more and more road damage detection methods have been proposed, such as Fast R-CNN, Faster R-CNN, Mask R-CNN and RetinaNet. However, because shallow and deep layers cannot be extracted at the same time, the existing methods do not perform well in detecting objects with fewer samples. In addition, these methods cannot obtain a highly accurate detecting bounding box. This paper presents a Multi-level Feature Pyramids method based on M2det. Because the feature layer has multi-scale and multi-level architecture, the feature layer containing more information and obvious features can be extracted. Moreover, an attention mechanism is used to improve the accuracy of local boundary boxes in the dataset. Experimental results show that the proposed method is better than the current state-of-the-art methods.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.97-100
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• 1996

In this paper, we describe an algorithm which estimate road following direction using the vanishing point property and obstacle detection. This method of detecting the lane markers in a set of continuous lane highway images using linear approximation is presented. This algorithm is designed for accurate and robust extraction of this data as well as high processing speed. Also, this algorithm reckon distance and chase about an obstacle. It include four algorithms which are lane prediction, lane extraction, road following parameter estimation and obstacle detection algorithm. High accuracy was proven by quantitative evaluation using simulated images. Both robustness and the practicality of real time video rate processing were then confirmed through experiment using VTR real road images.

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.182-188
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• 2011

This paper describes a method of road tracking by using a vision and laser with extracting road boundary (road lane and curb) for navigation of intelligent transport robot in structured road environments. Road boundary information plays a major role in developing such intelligent robot. For global navigation, we use a global positioning system achieved by means of a global planner and local navigation accomplished with recognizing road lane and curb which is road boundary on the road and estimating the location of lane and curb from the current robot with EKF(Extended Kalman Filter) algorithm in the road assumed that it has prior information. The complete system has been tested on the electronic vehicles which is equipped with cameras, lasers, GPS. Experimental results are presented to demonstrate the effectiveness of the combined laser and vision system by our approach for detecting the curb of road and lane boundary detection.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.11
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• pp.1437-1444
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• 2020

With the development of computer vision systems, many advances have been made in the fields of surveillance, biometrics, medical imaging, and autonomous driving. In the field of autonomous driving, in particular, the object detection technique using deep learning are widely used, and the paved road detection is a particularly crucial problem. Unlike the ROI detection algorithm used in general object detection, the structure of paved road in the image is heterogeneous, so the ROI-based object recognition architecture is not available. In this paper, we propose a deep neural network architecture for atypical paved road detection using Semantic segmentation network. In addition, we introduce the multi-scale semantic segmentation network, which is a network architecture specialized to the paved road detection. We demonstrate that the performance is significantly improved by the proposed method.

• International Journal of Internet, Broadcasting and Communication
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• v.7 no.2
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• pp.123-129
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• 2015

This paper proposes an efficient method to detect direction indicators on road surfaces to support drivers in driving safely using the Simulink model. In the proposed method, the ROIs are detected using the detection method of maximally stable extremal regions (MSER), and the road indicator regions are detected using the speeded up robust features (SURF) matching method for the corresponding point matching of the detected ROIs and the road indicator templates. Experiments on various road satiations show that the processing time of about 0.32 sec per frame was required, and a detection rate of 91% was achieved.