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  • Open Access


    A Systematic Approach for Exploring Underground Environment Using LiDAR-Based System

    Tareq Alhmiedat1,2,*, Ashraf M. Marei1,2, Saleh Albelwi1,2, Anas Bushnag2, Wassim Messoudi2, Abdelrahman Osman Elfaki2,*

    CMES-Computer Modeling in Engineering & Sciences, Vol.136, No.3, pp. 2321-2344, 2023, DOI:10.32604/cmes.2023.025641

    Abstract Agricultural projects in different parts of the world depend on underground water wells. Recently, there have been many unfortunate incidents in which children have died in abandoned underground wells. Providing topographical information for these wells is a prerequisite to protecting people from the dangers of falling into them, especially since most of these wells become buried over time. Many solutions have been developed recently, most with the aim of exploring these well areas. However, these systems suffer from several limitations, including high complexity, large size, or inefficiency. This paper focuses on the development of a smart exploration unit that is… More >

  • Open Access


    Intelligent Risk-Identification Algorithm with Vision and 3D LiDAR Patterns at Damaged Buildings

    Dahyeon Kim1, Jiyoung Min1, Yongwoo Song1, Chulsu Kim2, Junho Ahn1,*

    Intelligent Automation & Soft Computing, Vol.36, No.2, pp. 2315-2331, 2023, DOI:10.32604/iasc.2023.034394

    Abstract Existing firefighting robots are focused on simple storage or fire suppression outside buildings rather than detection or recognition. Utilizing a large number of robots using expensive equipment is challenging. This study aims to increase the efficiency of search and rescue operations and the safety of firefighters by detecting and identifying the disaster site by recognizing collapsed areas, obstacles, and rescuers on-site. A fusion algorithm combining a camera and three-dimension light detection and ranging (3D LiDAR) is proposed to detect and localize the interiors of disaster sites. The algorithm detects obstacles by analyzing floor segmentation and edge patterns using a mask… More >

  • Open Access


    Intelligent SLAM Algorithm Fusing Low-Cost Sensors at Risk of Building Collapses

    Dahyeon Kim, Junho Ahn*

    CMC-Computers, Materials & Continua, Vol.74, No.1, pp. 1657-1671, 2023, DOI:10.32604/cmc.2023.029216

    Abstract When firefighters search inside a building that is at risk of collapse due to abandonment or disasters such as fire, they use old architectural drawings or a simple monitoring method involving a video device attached to a robot. However, using these methods, the disaster situation inside a building at risk of collapse is difficult to detect and identify. Therefore, we investigate the generation of digital maps for a disaster site to accurately analyze internal situations. In this study, a robot combined with a low-cost camera and two-dimensional light detection and ranging (2D-lidar) traverses across a floor to estimate the location… More >

  • Open Access


    Tracking Pedestrians Under Occlusion in Parking Space

    Zhengshu Zhou1,*, Shunya Yamada2, Yousuke Watanabe2, Hiroaki Takada1,2

    Computer Systems Science and Engineering, Vol.44, No.3, pp. 2109-2127, 2023, DOI:10.32604/csse.2023.029005

    Abstract Many traffic accidents occur in parking lots. One of the serious safety risks is vehicle-pedestrian conflict. Moreover, with the increasing development of automatic driving and parking technology, parking safety has received significant attention from vehicle safety analysts. However, pedestrian protection in parking lots still faces many challenges. For example, the physical structure of a parking lot may be complex, and dead corners would occur when the vehicle density is high. These lead to pedestrians’ sudden appearance in the vehicle’s path from an unexpected position, resulting in collision accidents in the parking lot. We advocate that besides vehicular sensing data, high-precision… More >

  • Open Access


    Dynamic Target Detection and Tracking Based on Quantum Illumination LIDAR

    Qinghai Li1, Ziyi Zhao2, Hao Wu1,*, Xiaoyu Li3,*, Qinsheng Zhu1, Shan Yang4

    Journal of Quantum Computing, Vol.3, No.1, pp. 35-43, 2021, DOI:10.32604/jqc.2021.016634

    Abstract In the detection process of classic radars such as radar/lidar, the detection performance will be weakened due to the presence of background noise and loss. The quantum illumination protocol can use the spatial correlation between photon pairs to improve image quality and enhance radar detection performance, even in the presence of loss and noise. Based on this quantum illumination LIDAR, a theoretic scheme is developed for the detection and tracking of moving targets, and the trajectory of the object is analyzed. Illuminated by the quantum light source as Spontaneous Parametric Down-Conversion (SPDC), an opaque target can be identified from the… More >

  • Open Access


    Automatic BIM Indoor Modelling from Unstructured Point Clouds Using a Convolutional Neural Network

    Uuganbayar Gankhuyag, Ji-Hyeong Han*

    Intelligent Automation & Soft Computing, Vol.28, No.1, pp. 133-152, 2021, DOI:10.32604/iasc.2021.015227

    Abstract The automated reconstruction of building information modeling (BIM) objects from unstructured point cloud data for indoor as-built modeling is still a challenging task and the subject of much ongoing research. The most important part of the process is to detect the wall geometry clearly. A popular method is first to segment and classify point clouds, after which the identified segments should be clustered according to their corresponding objects, such as walls and clutter. To perform this process, a major problem is low-quality point clouds that are noisy, cluttered and that contain missing parts in the data. Moreover, the size of… More >

  • Open Access


    Modeling Analysis for Positioning Error of Mobile Lidar Based on MultiBody System Kinematics

    Cang Peng1, Yu Zhenglin2

    Intelligent Automation & Soft Computing, Vol.25, No.4, pp. 827-835, 2019, DOI:10.31209/2019.100000086

    Abstract The assembly error of the supporting component in Mobile Lidar has an inevitable influence on the positioning accuracy and the system error. In this paper, we applied the multi-body system kinematics principle and the homogeneous coordinate transformation to infer the final pointing error formula which influences the three-axis error model of the Mobile Lidar. The influence of each error item on the positioning accuracy (pointing accuracy) of radar system is analyzed by computer simulation, and the motion law between each axis of radar supporting component is discussed, which has laid the base for researching the positioning accuracy of Mobile Lidar. More >

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