• 제어로봇시스템학회논문지
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• 제22권4호
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• pp.253-265
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• 2016

We propose an obstacle classification method using multi-decision factors and decision sections based on Single 2D LiDAR. The existing obstacle classification method based on single 2D LiDAR has two specific advantages: accuracy and decreased calculation time. However, it was difficult to classify obstacle type, and therefore accurate path planning was not possible. To overcome this problem, a method of classifying obstacle type based on width data was proposed. However, width data was not sufficient to enable accurate obstacle classification. The proposed algorithm of this paper involves the comparison between decision factor and decision section to classify obstacle type. Decision factor and decision section was determined using width, standard deviation of distance, average normalized intensity, and standard deviation of normalized intensity data. Experiments using a real autonomous vehicle in a real environment showed that calculation time decreased in comparison with 2D LiDAR-based method, thus demonstrating the possibility of obstacle type classification using single 2D LiDAR.

• 한국레이저가공학회지
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• 제5권3호
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• pp.21-30
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• 2002

In automotive industry, the studies about light weight vehicle and improving the productivity have been accomplished. For that, TRIP steel was developed and research for the laser welding process have been performed. In this study, the monitoring system using photodiode was developed for laser welding process of TRIP steel. With measuring light, neural network model for estimating bead width and tensile strength was made and weld quality classification algorithm was formulated with fuzzy inference method.

• 한국측량학회지
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• 제35권1호
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• pp.1-10
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• 2017

An UAV (Unmanned Aerial Vehicle) is a flight system that is designed to conduct missions without a pilot. Compared to traditional airborne-based photogrammetry, UAV-based photogrammetry is inexpensive and can obtain high-spatial resolution data quickly. In this study, we aimed to classify the land cover using high-spatial resolution images obtained using a UAV. An RGB camera was used to obtain high-spatial resolution orthoimage. For accurate classification, multispectral image about same areas were obtained using a multispectral sensor. A DSM (Digital Surface Model) and a modified NDVI (Normalized Difference Vegetation Index) were generated using images obtained using the RGB camera and multispectral sensor. Pixel-based classification was performed for twelve classes by using the RF (Random Forest) method. The classification accuracy was evaluated based on the error matrix, and it was confirmed that the proposed method effectively classified the area compared to supervised classification using only the RGB image.

• 한국지능시스템학회논문지
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• 제13권4호
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• pp.409-415
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• 2003

Recently, the modular learning are very popular and receive much attention for pattern classification. The modular learning method based on the "divide and conquer" strategy can not only solve the complex problems, but also reach a better result than a single classifier′s on the learning quality and speed. In the neural network area, some researches that take the modular learning approach also have been made to improve classification performance. In this paper, we propose a simple modular neural network for characters recognition of vehicle number plate and evaluate its performance on the clustering methods of feature vectors used in constructing subnetworks. We implement two clustering method, one is grouping similar feature vectors by K-means clustering algorithm, the other grouping unsimilar feature vectors by our proposed algorithm. The experiment result shows that our algorithm achieves much better performance.

• 한국ITS학회 논문지
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• 제9권3호
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• pp.73-84
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• 2010

본 연구에서는 고속도로에서 GPS(Global Positioning System)수신기를 장착한 프로브차량을 이용하여 수집한 속도자료를 이용하여 사고 위험구간을 추출하는 방법론을 제시하였다. 위험구간 추출을 사고발생 유 무를 판단하는 분류문제(Classification)로 정형화하고 베이지안 신경망을 적용하였다. 개별차량의 속도자료를 이용하여 다양한 잠재적 독립변수를 설정하고 이항 로지스틱 회귀분석을 이용하여 통계적으로 유의미한 변수만을 추출하여 베이지안 신경망의 입력자료로 사용하였다. 제안된 방법론의 성능 평가를 위해 사고 발생 경험이 있는 위험구간을 정확히 추출하는 분류정확도를 효과척도로 활용하였다. 본 연구에서 제안한 방법론의 타당성을 60%의 분류정확도를 통해 확인할 수 있었다. 고속도로 신설노선의 교통안전성을 평가하고 사고예방을 위한 대응책 개발 및 적용에 본 연구의 결과가 효과적으로 활용될 것으로 기대된다.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.436-443
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• 2011

Recognition of structures in urban environments is a fundamental ability for unmanned ground vehicles. In this paper we propose the geometrical featured voxel which has not only 3-D coordinates but also the type of geometrical properties of point cloud. Instead of dealing with a huge amount of point cloud collected by range sensors in urban, the proposed voxel can efficiently represent and save 3-D urban structures without loss of geometrical properties. We also provide an urban structure classification algorithm by using the proposed voxel and machine learning techniques. The proposed method enables to recognize urban environments around unmanned ground vehicles quickly. In order to evaluate an ability of the proposed map representation and the urban structure classification algorithm, our vehicle equipped with the sensor system collected range data and pose data in campus and experimental results have been shown in this paper.

• 로봇학회논문지
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• 제7권2호
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• pp.113-119
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• 2012

In this paper we propose the method that detects moving objects in autonomous navigation vehicle using LRF sensor data. Object detection and tracking methods are widely used in research area like safe-driving, safe-navigation of the autonomous vehicle. The proposed method consists of three steps: data segmentation, mobility classification and object tracking. In order to make the raw LRF sensor data to be useful, Occupancy grid is generated and the raw data is segmented according to its appearance. For classifying whether the object is moving or static, trajectory patterns are analysed. As the last step, Markov chain Monte Carlo (MCMC) method is used for tracking the object. Experimental results indicate that the proposed method can accurately detect moving objects.

• 대한교통학회지
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• 제14권3호
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• pp.61-73
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• 1996

The objective of this paper is to estimate the PCE(Passenger Car Equivalents) of various vehicle types on expressway work zones. Headway samples of 5,359 vehicles were collected in 6 work zones in the Kyungbu Expressway between September and November of 1995. Average headways of 8 vehicle types based on the vehicle classification method of the Department of Construction and Transportation were calculated. A statistical test of effects of the types of the preceding vehicles were performed for the average headways between a vehicle type preceded by other vehicle types. The results show that the effects of the type of preceding vehicles are significant (exceeded 5% and 10% significance levels) and the PCEs of heavy vehicles on expressway work zones are higher than that of basic expressway section. Therefore, different adjustment factors should be applied for heavy vehicles in estimating saturation flow rates of expressway work zones. The study also derives an equation to determine PCEs of these vehicle types.

• 한국군사과학기술학회지
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• 제10권2호
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• pp.12-20
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• 2007

The aiming ability is a key to improve the accuracy performance of the gun pointing system in the ground military vehicle. This paper describes the new detection method of chatter vibration using disturbance acceleration in the pointing structure. In order to analysis the vibration trends of the pointing system occurred while the vehicle driving, acceleration data obtained from vehicle was processed by using data processing algorithm with moving average and Hilbert transform. The specific mode constants of acceleration were obtained from various disturbances. Vehicle velocity, road condition and property of pointing structure were considered as factors which make the change of vibration trend in vehicle dynamics. Finally, back propagation neural networks have been applied to the pattern recognition of the classification of vibration signal in various driving conditions. Results of signal processing were compared with other condition result and analysed.

• 전자공학회논문지SC
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• 제38권5호
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• pp.42-51
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• 2001

차량검출은 교통량 관측을 위해서 필요한 가장 기본적인 요소이다. 영상을 기반으로 한 교통정보 추출 시스템은 다른 방식을 이용하는 시스템들과 비교했을 때 몇 가지 두드러진 장점을 가지고 있다. 그러나, 영상기반 시스템에서는 영상에 포함된 그림자가 차량검출의 정확도를 저해하는 요소로 작용하는 데, 특히 이동중인 차량에 의해서 발생하는 활성 그림자는 심각한 성능저하를 야기할 수 있다. 본 논문에서는 차량검출과 그림자 영향 제거를 위해서 배경 빼기와 에지 검출을 결합한 새로운 접근방법을 제안하였다. 제안한 방법은 노변의 지형지물에 의해서 발생하는 비활성 그림자가 크게 증가하는 상황에서도, 98[%]이상의 차량검출 정확도를 나타내었다. 본 논문에서 제안한 차량검출 방법을 기반으로 하여, 차량 추적, 차량 계수, 차종 분류, 그리고 속도 측정을 수행하여 각 차선의 부하를 나타내는 데 사용되는 차량 흐름과 관련된 여러 가지 교통정보를 추출하였다.