Baehoon Choi

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A novel range-free localization algorithm based on the multidimensional support vector regression (MSVR) is proposed in this paper. The range-free localization problem is formulated as a multidimensional regression problem, and a new MSVR training method is proposed to solve the regression problem. Unlike standard support vector regression, the proposed(More)
We propose the modified dynamic window approach for indoor transport robot. The dynamic window approach is the popular collision avoidance algorithm that considers the heading direction of the robot, the distance to the obstacle, and the velocity of the robot. The objective function of the DWA thinks faster speed is better but it is very dangerous when(More)
In the active safety system, the object classification is important to decide the action for passenger's safety. Using microwave radar as a sensor, we can get the measure about the distance from the sensor, the azimuth angle, and also the signal power of the reflected signal. In this paper, we use these information from 24GHz microwave radar sensor and(More)
There are several types of intersections such as merge-roads, diverge-roads, plus-shape intersections and two types of T-shape junctions in urban roads. When an autonomous vehicle encounters new intersections, it is crucial to recognize the types of intersections for safe navigation. In this paper, a novel intersection type recognition method is proposed(More)
The major problem in an advanced driver assistance system (ADAS) is the proper use of sensor measurements and recognition of the surrounding environment. To this end, there are several types of sensors to consider, one of which is the laser scanner. In this paper, we propose a method to segment the measurement of the surrounding environment as obtained by a(More)
In this paper, we propose a Collision warning system for rear-end collision situation to avoid an accident. There are many complex situations in roadway. Therefore, we focus on a rear-end collision which is a common traffic accident wherein a vehicle crashes into the vehicle in front of it. The state of vehicles and the TTC are used to state features and(More)
In this paper, we propose a collision risk assessment system using soft computing method. By using Monte Carlo Method, we make some samples for collision risk, and we recover collision risk of whole area using neural network. Multi-layer perceptron neural network will be applied to proposed algorithm. And fuzzy system will decide the final collision risk by(More)
In this paper, we present approach for the detection and classification of multiple vehicles using a vehicle mounted laser scanner. The sensor, which is placed in front of the vehicle, is Scala 1403 and its characteristic is that it scans data twice -upper and lower direction- in one period. Consequently, it is difficult to detect and classify vehicles(More)
Negligence of a driver or a sudden stop of a forward vehicle can cause rear-end collision. In this paper, we propose a new situation assessment algorithm to determine collision probability to prevent the rear-end collision. The proposed algorithm consists of two phases: coarse assessment and fine assessment. In the coarse assessment, the algorithm selects a(More)