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오재석(Jae-Saek Oh),이준수(Jun-Su Lee),정진범(Jin-Beom Jeong),김정하(Jung-Ha Kim) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11
This paper is research about longitudinal velocity planning of Unmanned Ground Vehicle, exactly recognition that Speed limit Signs of Road Environment. Longitudinal velocity plan conduct that based on image information acquired through vision sensor at the Speed limit Signs among Road information signs. Acquired image relays information to path plan node of UGV, after classification of necessary information through image processing. The information obtained in this way generates path according to path plan node, UGV can conduct stable road driving.
자율주행 자동차의 실 도로 차선 변경을 위한 장애물 검출 및 경로 계획에 관한 연구
오재석(Jae-Saek Oh),임경일(Kyung-Il Lim),김정하(Jung-Ha Kim) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.2
Recently, in automotive technology area, intelligent safety systems have been actively accomplished for drivers, passengers, and pedestrians. Also, many researches are focused on development of autonomous vehicles. This paper propose the application of LiDAR sensors, which takes major role in perceiving environment, terrain classification, obstacle data clustering method, and local map building for autonomous driving. Finally, based on these results, planning for lane change path that vehicle tracking possible were created and the reliability of path generation were experimented.
Urban Driving System for UGV using Laser Scanner and Vision
Jae-Hwan Kim,Jae-Saek Oh,Jung-Ha Kim 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper describes urban driving system of unmanned ground vehicle. Urban driving system of UGV is important system for driving safety and stability. This system is consists of 2 component. One is laser system component and the other is visionsystem components. In This paper we introduce UGV system configuration and explain urban driving system using laser scanner and camera.
Kyung-in Min,Jae-Saek Oh,Byong-Woo Kim 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
Recently, technology providing to information about road infrastructure has been developed. The information was obtained to acquire image through camera. It prevents an accident using technology measure the distances from front vehicle in advance. Also, it was used recognize lane and prevent to drop out of lane using measured distance from wheel to lane. We also get more information about road sign furnished traffic environments. Therefore, to recognize road sign can be flexible in responding to automated driving system and safe driving system. This paper based on UGV (Unmanned Ground Vehicle).
Night time Vehicle Detection By Using Color Information Based on Tail-Light
Jun-Jie Zhang,Jae-Saek Oh,Jung-Ha Kim 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
In this paper presents an algorithm, aims at practical applications, for the high speed processing and performance enhancement of vehicle detection base on vision processing system. As a preprocessing for high speed vehicle detection in the night, the vanishing line estimation and the optimal extraction of ROI (region of interest) for can be processed to reduction of detection region in which high speed processing is enabled. In order to get better performance the image need pre-processing. Legally vehicle tail light must be red color, so we use the red plane image with simultaneous processing of noise reduction and edge enhancement using the adv morphology function. And then give Dilation and Erosion eliminating the noise through the process of Morphology. Finally, using the Projection-Histogram information get the center of mass by restricting threshold detects a vehicle in the ROI. This method is more efficient than simply detecting and sliding the entire screen. Finally, the various real road experimental results are presented to evaluate the effectiveness of the proposed method.
On-road Vehicle Detection based on Appearance Features for Autonomous Vehicles
Tae-Young Lee,Jae-Saek Oh,Jung-Ha Kim 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
In this paper, we propose a monocular camera-based vehicle detection system for use in autonomous vehicles. In order to accurately and rapidly detect a vehicle on the real road, we have designed a vehicle detection system that follows two basic steps namely; Hypothesis Generation and Hypothesis Verification. In the hypothesis generation step, a candidate region of vehicles is set by using the shadow properties of the vehicle. In the hypothesis verification step, based on the candidate regions, we are able to distinguish between the vehicle and the non-vehicle. For the hypothesis verification, we use histograms of oriented gradients (HOG) feature and support vector machine (SVM) classifier. To fit the vehicle detection system, detailed settings of the HOG such as the cell, block and bin were selected.
Create a combined Vision & GPS global path
Jun-Su Lee,Jae-Saek Oh,Jung-Ha Kim 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
This paper gave thought to distribute the Lane & Obstacle information on driving path and to create the driving path of UGV(Unmanned Ground Vehicle), weakness supplementation by combining information from Camera and GPS which are used to gather surrounding information. Algorithm to reset the path on the existing GPS Global map is introduced in this paper, among the local sensor that are equipped with UGV, using the GPS that generates path of vehicle based on position of vehicle and the Camera that performs human’s eyes duty.
Research of Vision System for Perception in UGV
Kyung-In Min,Jin-Beom Jeong,Jae-Saek Oh,Jung-Ha Kim 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
This paper is an overview of the UGV (Unmanned Ground Vehicle)’s technical aspects. Among them, it contains information on the vision sensor which is responsible for the visual part using input image data. First, it describes role of vision sensor in Unmanned Ground Vehicle. Next, it explains image processing system applied to the necessary algorithms about UGV’s obstacle detection.
지리정보시스템 기반 경로계획을 이용한 지능형순항제어시스템 개발
임경일(Kyung-Il Lim),오재석(Jae-Saek Oh),이제욱(Je-Uk Lee),김정하(Jung-Ha Kim) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.3
Autonomous driving is no longer atechnology of the future since the development of autonomous vehicles has now been realized, and many technologies have already been developed for the convenience of drivers. For example, autonomous vehiclesare one of the most important drive assistant systems. Among these many drive assistant systems, Cruise Control Systemsarenow a typical technology. This system constantly maintains a vehicle’s speed and distance from a vehicle in front by using Radar or LiDAR sensors in real time. Cruise Control Systems do not only serve their original role, but also fulfill another role as a ‘Driving Safety’ measure as they can detect a situation that a driver did not predict and can interveneby assuming a vehicle’s longitude control. However, these systems have the limitation of only focusing on driver safety. Therefore, in this paper, an Intelligent Cruise Control System that utilizes the path planning method and GIS is proposed toovercome some existing limitations.