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)
Indoor localization is essential technology in service robot market. To localize the position of robot, laser scanner is widely used. But it has limit that laser scanner has probability return unexpected data when the space that the robot operate is too crowded. In this dynamic environment, the robot needs another sensor to complement weakness of laser(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, the target recognition system using 24GHz radar for intelligent vehicle is represented. Several kind of radar measurement features are included to get performance. The proposed method is verified by experiments. The support vector machine based classification system is implemented. The result of the system is compared with other previous(More)
In multi-target tracking (MTT) problems, there are many important issues that affect performance, including statistical filtering, measurement-target association, and estimating the number of targets. While newborn target detection and state estimation should also be considered as important factors in MTT, only a few studies have addressed these topics. In(More)