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Pseudo-LiDAR를 활용한 자율주행 영상인식 시스템의 3D 객체 검출 성능향상 연구
이철우(Cheolwoo Lee),백초혜(Chohye Baek),나희연(Heeyeon Nah) 한국자동차공학회 2022 한국자동차공학회 학술대회 및 전시회 Vol.2022 No.11
With the rise of artificial intelligence (AI) and the success of various deep neural network (DNN) applications, the autonomous driving has gained significant interest as one of promising research fields in both industry and academia. Autonomous driving technologies are largely divided into three stages which are perception, decision and control, and AI is making great research achievements in the perception. So far, the LiDAR sensor has been considered as a primary sensing media since it provides accurate depth information. Nevertheless, researchers have sought the alternative of the LiDAR due to the high cost and power consumption, as well as its unattractive design. In this work, we present an alternative, cost-effective and highly accurate 3D object detection mechanism built upon a simple stereo camera sensor, while providing performance comparable to the one based on LiDAR sensor. By converting images into point cloud called Pseudo-LiDAR and using it, then we can achieve 3.6x greater accuracy than image based algorithms. In terms of speed, we can achieve 18x faster inference time than MV3D or F-PointNet. In conclusion, an accurate and cost-effective object detector can be made by combining Complex-YOLO and the Pseudo-LiDAR method.
Facile preparation of self-assembled wool-based graphene hydrogels by electron beam irradiation
Park, Mira,Pant, Bishweshwar,Choi, Jawun,Park, Yong Wan,Lee, Chohye,Shin, Hye Kyoung,Park, Soo-Jin,Kim, Hak-Yong 한국탄소학회 2014 Carbon Letters Vol.15 No.2
Three dimensional self-assembled graphene hydrogels were easily fabricated by electron beam irradiation (EBI) using an aqueous solution of wool/poly(vinyl alcohol) and graphene oxide (GO). After exposure to various levels of EBI radiation, the highly porous, self-assembled, wool-based graphene hydrogels were characterized using scanning electron microscopy and Fourier-transform infrared spectroscopy; to determine the gel fraction, degree of swelling, gel strength, kinetics-of-swelling analyses and removal of hexavalent chromium (Cr(VI)) from the aqueous solution. X-ray diffraction results confirmed that EBI played a significantly important role in reducing GO to graphene. The adsorption equilibrium of Cr(VI) was reached within 80 min and the adsorption capacity was dramatically increased as the acidity of the initial solution was decreased from pH 5 to 2. Changes in ionic strength did not exert much effect on the adsorption behavior.