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무인 차량의 이동 장애물 회피를 위한 동적 객체 영역 탐지 기법
이성조 ( Seongjo Lee ),조성재 ( Seoungjae Cho ),심성대 ( Sungdae Sim ),곽기호 ( Kiho Kwak ),박용운 ( Yong Woon Park ),엄기현 ( Kyhyun Um ),조경은 ( Kyungeun Cho ) 한국정보처리학회 2016 한국정보처리학회 학술대회논문집 Vol.23 No.1
무인 차량의 자율 주행을 위해 장애물 회피, 주행 가능 도로 판단 등의 기술이 연구되고 있다. 이러한 연구를 실제 환경에서의 자율 주행에 활용하기 위해서는 주변 환경에 동적으로 움직이는 장애물의 위치를 고려할 필요가 있다. 본 연구는 차량에 탑재된 LIDAR로부터 획득한 포인트의 분포 변화를 이용하여 차량 주변에 동적 장애물이 존재하는 지역을 검출하는 방법을 제안한다. 해당 방법은 포인트에 대한 통계치를 활용하여 동적 객체가 존재하는 영역을 추정함으로써 동적 객체 영역을 고속으로 탐색할 수 있다.
A dynamic zone estimation method using cumulative voxels for autonomous driving
Lee, Seongjo,Cho, Seoungjae,Sim, Sungdae,Kwak, Kiho,Park, Yong Woon,Cho, Kyungeun SAGE Publications 2017 International Journal of Advanced Robotic Systems Vol.14 No.1
<P>Obstacle avoidance and available road identification technologies have been investigated for autonomous driving of an unmanned vehicle. In order to apply research results to autonomous driving in real environments, it is necessary to consider moving objects. This article proposes a preprocessing method to identify the dynamic zones where moving objects exist around an unmanned vehicle. This method accumulates three-dimensional points from a light detection and ranging sensor mounted on an unmanned vehicle in voxel space. Next, features are identified from the cumulative data at high speed, and zones with significant feature changes are estimated as zones where dynamic objects exist. The approach proposed in this article can identify dynamic zones even for a moving vehicle and processes data quickly using several features based on the geometry, height map and distribution of three-dimensional space data. The experiment for evaluating the performance of proposed approach was conducted using ground truth data on simulation and real environment data set.</P>
Optimization of Multiple Sensor Data Pipeline for Real-time 3D Terrain Reconstruction
Seoungjae Cho,Seongjo Lee,Kyhyun Um,Kyungeun Cho,Sungdae Sim,Yong Woon Park 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
Remote-control technology is required in an unmanned vehicle such that it can replace humans for executing tasks in various extreme environments. In particular, a remote scene must be reconstructed using 3D meshes for enabling a user to remotely control an unmanned vehicle easily and intuitively. To this end, a large amount of multiple sensor data would be processed using various algorithms in real time. Considering the limited hardware specifications in extreme environments, it is difficult to implement 3D terrain reconstruction in high-quality and real time. This paper proposes the optimization of the architecture of a multiple-sensor-data pipeline. The improved performance resulting from the optimized architecture was analyzed through experimental comparison with a non-optimized system.
그룹 내 협업 및 콘텐츠 공유를 위한 인스턴트 메신저 시스템
손동환(Donghwan Son),박경(Kyoung Park),배승조(Seongjo Bae),최훈(Hoon Choi) 한국정보과학회 2010 한국정보과학회 학술발표논문집 Vol.37 No.1D
소셜 네트워크 서비스에 대한 관심이 높아지고 있으며 이의 하나로 인스턴트 메신저를 이용한 통합 커뮤니케이션 서비스의 필요성이 커지고 있다. 본 논문은 이러한 요구사항 중 그룹 내 회의를 진행하는 데 필요한 정보의 생성, 전송 및 저장을 위한 기능을 XMPP 기반 인스턴트 메신저 형태로 구현하였다.
Analysis of Program Speed Characteristics Having Non-ideal Channel Profile in 3D NAND Flash Memory
Jaewoo Lee,Yungjun Kim,Yoocheol Shin,Seongjo Park,Hojong Kang,Daewoong Kang,Myounggon Kang 대한전자공학회 2024 Journal of semiconductor technology and science Vol.24 No.4
This study presents an in-depth investigation of the channel profile and program speed of non-ideal vertical 3-dimensional (3D) NAND Flash Memory. Using 3D technology computer-aided design (TCAD) simulations, the channel profiles were transformed into oxide-nitride-oxide (O/N/O) structures, providing insights into their impact on the device performance. Step-by-step programming was conducted for the initial state of each channel profile. Upon applying the programmed voltage, variations in the E-field of the tunneling oxide were observed based on the channel profile. Consequently, the concentration of the trapped electrons in the nitride, depending on the channel profile, was identified. Therefore, this study analyzed the influence of E-field differences due to channel profiles on the program speed and investigated vulnerable structures.
Analysis of Cell Current with Abnormal Channel Profile in 3D NAND Flash Memory
Jaewoo Lee,Yungjun Kim,Yoocheol Shin,Seongjo Park,Daewoong Kang,Myounggon Kang 대한전자공학회 2024 Journal of semiconductor technology and science Vol.24 No.2
This letter presents an in-depth investigation of the channel profile and cell current analysis of abnormal vertical 3D NAND flash memory. By utilizing 3D (technology computer-aided design) TCAD simulation, the channel profile was designed with an oxide-nitride-oxide (O/N/O) structure, providing insights into its impact on device performance. The ID-VDS curve was measured after setting the Vth target in the program state, enabling the analysis of the cell current. Additionally, the E-field of the tunneling oxide was considered to gain a comprehensive understanding of the device behavior. Based on the analysis results, the structure most vulnerable to cell current in vertical 3D NAND flash memory has been identified.