• 제어로봇시스템학회논문지
• /
• 제15권5호
• /
• pp.480-487
• /
• 2009

Autonomous Lane detection with vision is a difficult problem because of various road conditions, such as shadowy road surface, various light conditions, and the signs on the road. In this paper we propose a robust lane detection algorithm to overcome shadowy road problem using a statistical method. The algorithm is applied to the vision-based mobile robot system and the robot followed the lane with the lane following controller. In parallel with the lane following controller, the global position of the robot is estimated by the developed localization method to specify the locations where the lane is discontinued. The results of experiments, done in the region where the GPS measurement is unreliable, show good performance to detect and to follow the lane in complex conditions with shades, water marks, and so on.

• 한국항해항만학회:학술대회논문집
• /
• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.2
• /
• pp.77-82
• /
• 2006

Integrity plays a fundamental role in the feasibility of 'liability critical' applications. Road charging, e.g. road tolling in urban zones or on highways, represents a series of liability critical applications where a guarantee in integrity could be a true enabler: being the mechanism that prevents the incorrect charging of users and enabling the advancement of these applications using GNSS such as Galileo and EGNOS that provide integrity mechanisms. However, the integrity of the end user position is not guaranteed by the EGNOS and Galileo integrity services alone as provided. Algorithms have been developed to supply a guarantee on the performance attainable at the user level through the provision of a horizontal protection level that responds to local user conditions such as multipath or interference. In addition, an application has been developed that implements road charging mechanisms based on the availability of user-level integrity. Results obtained show that the user-level integrity algorithms provided the required level of integrity guarantee and granularity of the horizontal protection levels necessary for executing urban and rural (highway) road charging. In addition, the road charging application developed shows that the current application domain requirements can be met through the provision of guaranteed integrity and that further reductions in the horizontal protection levels along with increased signal availability will enable future road charging modalities.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.403-403
• /
• 2000

Generally estimation of driving direction uses the way which uses lane detection and vanishing point in autonomous-driving system. Especially we use Sub-window for decreasing Process time when we detect lane, but fixed sub-window can not detect lane because of some factors in road image. So we suggest algorithm using one-dimension line scan method to detect an exact position of lane.

• 한국산림과학회지
• /
• 제89권3호
• /
• pp.397-404
• /
• 2000

임도 옆도랑침식에 영향을 미치는 요인의 평가 및 안정도 판별을 위하여 광릉시험림의 임도를 대상으로 조사를 실시한 결과 침식에 미치는 기여순위는 종단물매, 시설위치, 절토사면경사, 절토사면구성물질, 유하거리, 노면형태, 노면재료, 절토사면피복도, 절토사면길이 순으로 나타났다. 임도 옆도랑침식을 유발하는 요인을 평가하면, 종단물매는 8% 이상, 임도시설위치는 산록(山麓)과 중복(中腹), 절토사면경사는 $50^{\circ}$ 이상, 절토사면토성은 견질토사, 자갈섞인 토사, 호박돌섞인 토사, 유하거리는 80m 이상의 지역에서, 그리고 노면재료는 토사도(土砂道)와 자갈부설도에서, 노면형태의 경우에는 철(凸)형과 직선형, 절토사면 피복도(被覆度)는 피복도가 중(中)이상인 곳에서 임도 옆도랑침식이 발생할 가능성이 높은 것으로 예측(豫測)되었다.

• 한국정밀공학회지
• /
• 제18권3호
• /
• pp.68-74
• /
• 2001

A lane detection based on a road model or feature all needs correct acquirement of information on the lane in an image. It is inefficient to implement a lane detection algorithm through the full range of an image when it is applied to a real road in real time because of the calculating time. This paper defines two (other proper terms including"modes") for detecting lanes on a road. First is searching mode that is searching the lane without any prior information of a road. Second is recognition mode, which is able to reduce the size and change the position of a searching range by predicting the position of a lane through the acquired information in a previous frame. It allows to extract accurately and efficiently the edge candidate points of a lane without any unnecessary searching. By means of inverse perspective transform which removes the perspective effect on the edge candidate points, we transform the edge candidate information in the Image Coordinate System(ICS) into the plan-view image in the World Coordinate System(WCS). We define a linear approximation filter and remove faulty edge candidate points by using it. This paper aims at approximating more correctly the lane of an actual road by applying the least-mean square method with the fault-removed edge information for curve fitting.e fitting.

• 한국산림과학회지
• /
• 제90권3호
• /
• pp.324-330
• /
• 2001

본 연구는 비선형모델인 퍼지이론을 이용하여 화성암 지역의 임도성토사면을 대상으로 붕괴가능성 예측모델을 개발하였다. 그 결과는 다음과 같다. 임도 성토사면 붕괴요인의 중요도는 성토사면길이, 성토사면경사, 사면구성물질, 사면방위, 노선위치 등의 순으로 나타났으며, 붕괴위험도는 성토사면길이 8m 이상, 성토사면경사 $40^{\circ}$ 이상, 풍화암 사면, 북동사면 및 능선부 사면에서 크게 나타났다. 임도 성토사면의 붕괴예측 모델은 퍼지적분값 0.5를 기준으로 할 때, 최적화 계수(c)가 0.15, ${\lambda}$값이 3.1165인 경우에 최적 모델로 산출되었으며, 이때의 판별적중률은 86.8%로 모델의 적합성이 매우 높은 것으로 나타났다.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2000년도 하계학술대회 논문집 D
• /
• pp.2843-2845
• /
• 2000

A lane detection based on a road model or feature all need correct acquirement of information on the lane in a image, It is inefficient to implement a lane detection algorithm through the full range of a image when being applied to a real road in real time because of the calculating time. This paper defines two searching range of detecting lane in a road, First is searching mode that is searching the lane without any prior information of a road, Second is recognition mode, which is able to reduce the size and change the position of a searching range by predicting the position of a lane through the acquired information in a previous frame. It is allow to extract accurately and efficiently the edge candidates points of a lane as not conducting an unnecessary searching. By means of removing the perspective effect of the edge candidate points which are acquired by using the inverse perspective transformation, we transform the edge candidate information in the Image Coordinate System(ICS) into the plane-view image in the World Coordinate System(WCS). We define linear approximation filter and remove the fault edge candidate points by using it This paper aims to approximate more correctly the lane of an actual road by applying the least-mean square method with the fault-removed edge information for curve fitting.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2002년도 ICCAS
• /
• pp.98.3-98
• /
• 2002

Vision-based systems for finding road lanes have to operate robustly under a wide variety of environ-mental conditions including large amount of scene clutters. This paper presents a method for finding the lane boundaries by combining a local line extraction method and dynamic programming as a search tool. The line extractor obtains an initial position estimation of road lane boundaries from the noisy edge fragments. Dynamic programming then improves the initial approximation to an accurate configuration of lane boundaries. Input image frame is divided into a few sub-regions along the vertical direction. The local line extractor then performs to extract candidate lines of road lanes in the...

• 산업기술연구
• /
• 제18권
• /
• pp.43-50
• /
• 1998

According to complexity and high level of society, the rapid and accurate information for landuse, environment and traffic etc., is required, but the information management by a drawing and a map is confronted with a complicated and sudden change of facilities such as bridge; electricities, city gases and networks. This paper is aim to build a bridge management system of road with GSIS. It operated personal computer will bring easy computing management system of bridge on road. To build this system, presented bridge management system and domestic method for bridge management of road are investigated, and also apply to bridge management system using GSIS for site and character of bridges. And with that, position and character apply to bridge management system using GSIS.

• 조명전기설비학회논문지
• /
• 제22권9호
• /
• pp.8-16
• /
• 2008

도로조명시설의 설치 형태에 따른 운전자의 시선변화와 신체변화를 연구하였다. 야간 운전시 도로 조명 등기구의 설치위치에 따른 운전자의 시선, 감성, 행동의 변화와 이의 상관관계를 조사하여 조명 조건이 운전자에게 어떠한 영향을 주는지 비교 측정하였다. 특히 라인형태의 낮은 조명이 운전자 시선의 영향여부를 중점적으로 분석하였다.