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자율 주행 차량의 레이저 기반 환경인식 모듈 설계 및 데이터 수집 시스템 구축
나기인(Ki-In Na),변재민(Jaemin Byun),노명찬(Myoungchan Roh),손주찬(Joochan Sohn),서범수(Bumsoo Seo),김성훈(Sunghoon Kim) 한국자동차공학회 2013 한국자동차공학회 부문종합 학술대회 Vol.2013 No.5
Architecture of the environmental perception module has been designed and specifically, the LiDAR based obstacle perception module has been designed and described with applicable algorithms. Moreover, the data logging system has been developed by vehicle, LiDAR and ROS packages for testing perception algorithms. The developed data logging system has been tested around ETRI and the logged data have been played back.
코파일럿 시스템을 위한 다중 2D LiDAR 융합기반 차량 주변 동적 장애물 추적 모듈 개발
나기인(Ki-in Na),변재민(Jaemin Byun),노명찬(Myoungchan Rho),서범수(Bumsu Seo) 한국자동차공학회 2014 한국자동차공학회 부문종합 학술대회 Vol.2014 No.5
This paper introduces the development of moving obstacles perception module using multiple 2D LiDARs. This can estimate both position and velocity of dynamic objects around vehicles. Projecting point cloud data from 2D LiDARs to range image structure, they are partitioned to particular observations with connectivity based region growing segmentation. In sequence, observations from segmentation steps are associated with the predicted tracks employing NNSF based on Kalman filter. Furthermore, the associated tracks are continuously updated, extraneous observations are generated to new tracks and missing tracks are removed. This developed module was installed on Co-Pilot system and the experiments tracking several moving obstacles at the same time were performed to show this module working.
자율주행 자동차를 위한 3D LiDAR 정보를 이용한 MRF(Markov Random Field)기반 도로 인식 방법
변재민(Jaemin Byun),나기인(Ki-In Na),노명찬(Myoungchan Roh),손주찬(Joochan Sohn),서범수(Bumsoo Seo),김성훈(Sunghoon Kim) 한국자동차공학회 2013 한국자동차공학회 부문종합 학술대회 Vol.2013 No.5
본 논문은 자율주행자동차의 핵심 기술인 주행환경 인식기술과 관련하여 도로 영역인 주행 가능한 영역을 인식하는 방법에 대해서 제안한다. 기존 많이 사용했던 2D LiDAR 또는 카메라를 이용한 방법들은 2D 정보 기반으로 평지 환경에서의 주행 가능영역 인식에 대한 연구는 많이 진행되어 왔지만, 오르막(내리막) 또는 굴곡이 있는 도로 등에 대한 다양한 도로 유형에 대한 고려는 아직 미흡한 실정이다. 본 논문에서 굴곡이 있는 도로 환경에서 주행가능영역인식의 성능을 향상시키기 위해서 3D Lidar 센서로 획득된 3D Point Cloud 정보를 기반으로 기존의 널리 사용되었던 수직 방향의 높이정보를 통한 도로 영역을 분류하는 방법과 달리 Gradient 정보 기반으로 MRF 모델을 적용하고, LBP(Loopy Belief Propagation)방법을 통하여 도로 영역을 분류하는 방법을 제안하였다. 본 방법의 타당성을 보이기 위해서 실제 실험차량을 통해서 실제 도로의 데이터를 획득하고, 각도로 유형별에 따른 결과 및 분석을 통해서 본 방법의 성능의 우수성을 제시하였다.
관매도에 분포하는 퇴적암류에 대한 퇴적암석학적 예비연구
고영구 ( Yeong Koo Koh ),나범수 ( Bum Soo Na ),윤석태 ( Seok Tai Youn ),오강호 ( Kang Ho Oh ),박성일 ( Sung Il Park ) 한국도서(섬)학회 2015 韓國島嶼硏究 Vol.27 No.3
The Gwanmae do has a highly curved ria type coast forming a typical submerged shoreline. Two outcrops of sedimentary rocks were chosen from this island for the sedimentological study. The outcrop near harbor was mainly composed of sandstone beds of 1 ~ 2 m thickness intercalating with thin shale ones. Based on the characteristic alternation of sandstone and shale beds, the sandstone beds with thin shale beds were assigned to sSM(plane-stratified laminated sand-mud couplet) facies of Ghibaudo(1992). Meanwhile, outcrops around the northern coast of Gomsol seashore were assigned to lSM (laminated sand-mud couplet) of upper sandstone dominated part and lMS(laminated mud-sand couplet) of lower shale dominate part by Ghibaudo(1992), with respect to horizontal extension and lamination. The outcrops included several sedimentary structures such as the pisoid shape structure, ripple marks, crossed laminations, load structures and sedimentary dykes like the mud-volcano. With these structures several type of faults can develope in the outcrops. The sedimentary structures, crossed laminations, asymmetrical ripple marks, and shale flakes may relate to low-concentrated turbidity current. In addition, the metadepositional type convoluted beds, load structures and sedimentary dykes such as the mud-volcano indicate sediment liquefaction caused by the instability of sediments. Sedimentary instability might also form several type of faults in the outcrops while pisoid shape structures imply a calcret origin. From the above results, it is considered that sedimentary rocks of the study area were deposited under seasonal variation of semi-tropical climate.
자율주행 시스템을 위한 다양한 도로 환경의 다중 LiDAR 센서를 이용한 데이터셋 구축 방법
변재민(Jaemin Byun),나기인(Ki-In Na),노명찬(Myoungchan Roh),서범수(Bumsoo Seo) 한국자동차공학회 2014 한국자동차공학회 부문종합 학술대회 Vol.2014 No.5
This paper describes a data set collected by multiple LiDAR sensors and describes how to build this data set for evaluation of perception algorithm in the intelligent vehicle. For covering the surrounding of vehicle, it contains data from 1 camera, two 4-layered LiDARs(LD-MRS) and a high density 3D LiDAR(Velodyne) were synchronized and saved to our logging system while our vehicle drives in a various types of road such as uphill, downhill, etc. In addition to, this data set also have ground truth labels such as road, vehicle, building ,etc. with corresponding to each 3D point. We wish that this data set will be useful to the autonomous vehicle community, especially those developing perception capabilities.
자기치유용 캡슐 혼입율에 따른 모르타르 블록의 자기치유 특성
윤주호 ( Yoon Joo-ho ),김채영 ( Kim Chae-young ),나범수 ( Na Bum-su ),이재인 ( Lee Jae-in ),최세진 ( Choi Se-jin ) 한국건축시공학회 2023 한국건축시공학회 학술발표대회 논문집 Vol.23 No.1
This study compared the compressive strength and healing strength to confirm the self-healing performance of mortar incorporating Bioinspired Self-healing Capsule (BSC) into cement composites as part of a study to mitigate the problem of durability deterioration due to cracks in concrete structures. As a result of the evaluation, it was found that the healing performance decreased as the mixing ratio of the BSC capsule increased.