Major Accomplishments of KIST Over Its 40-Year History. Since its foundation over 40 years ago, KIST has remained faithful to its role as a comprehensive research institute supporting Korea's interests and has made active contributions to the growth of the nation's industrial base through advancements in science and technology. A review of its major accomplishments through the years offer a peek into the most significant events in its history.

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Project Name Autonomous Navigation in Domestic Urban Environments (KUVE)
Year 2010 Director Dr. Sungchul Kang
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1. Content & Characteristic

○ Difficulties of unmanned navigation in urban environment

- The accuracy of the GPS is unreliable in urban environment because of tall buildings and trees.
  We developed unmanned navigation technology that does not depend on the GPS.

- The DARPA Urban Challenge was held in open and flat area where only short buildings were,
   and the accuracy of the GPS was sufficient for vehicles to follow the road.
 
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○ Detection of physically traversable region

- Using the range information gathered from laser sensors, the vehicle recognize physically traversable region of road.
 
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- The vehicle detects the curb of the road utilizing model-based Bayesian filter. (Accuracy: 99.4%)
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○ Detection of legally traversable region

- The vehicle recognizes legally traversable region of road detecting road surface markings such as yellow centerline, white line, stop line, and crosswalks.

- Using vision cameras and intensity of laser reflected on road surface, the vehicle detects lines with root-mean-square error of 0.08m. 
 
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○ Detection of obstacles and passing through intersections

- The vehicle estimates the location and velocity of obstacles using the PDAF (Probabilistic data association filter) and range data obtained from laser sensors.

- In intersections, the vehicle plans its trajectory using Bezier curve that dynamically changes to avoid collision with obstacles detected.
 
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○ Recognition of traffic signs

- The vehicle detects and recognizes road traffic signs such as speed limit and stop sign.

2. Scientific Value

○ Development of unmanned autonomous navigation technology that does not depend on the accuracy of the GPS.

- It is the main difference between the technology and DARPA Urban Challenge.

- Broadcasted on major newspapers, SBS News 8, and MBC 9 Newsdesk  (Dec 9. 2009)

3. Economic Effect

○ The technology can be applied to safety devices for conventional cars to aid human driver
- Possible applications: lane departure warning system, forward obstacle detection system, automatic braking system.
○ Another possible application: zero-emission light-duty electric autonomous vehicle for short-range transportation in universities, research institutes, or golf courses.
 
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