PURPOSES : This study aimed to examine the relationship between discomfort glare and different types of lighting, including low-mounted lighting and conventional pole lighting. Although roadway lighting has been widely acknowledged as a countermeasure for nighttime traffic safety, discomfort glare, which is incidentally derived from lighting, is one of the key elements to overcome. METHODS : We selected the Unified Glare Rating (UGR), defined as a globally accepted lighting standard, as a measure of the effect of discomfort glare. Artificial rain and fog conditions were reproduced at the Center of Road Weather Proving Ground (CRPG). RESULTS : As a result, we found that the UGR of low-mounted lighting is reduced by 57.96% compared to pole lighting under rainy conditions, and by 39.12% in the case of fog conditions. CONCLUSIONS : It is proposed that discomfort glare was significantly reduced in the case of low-mounted lighting compared to pole lighting under both rain and fog conditions. Discomfort glare hinders the visual performance of drivers, so it may be related to delayed reaction time and inappropriate driving behavior. Therefore, low-mounted lighting is strongly recommended on road sections that have a high frequency of traffic accidents and adverse weather patterns.

In this paper, we proposed visual information to provide a highly maneuverable system for a tele-operator. The visual information image is bird’s eye view from UFR(Unmanned Flying Robot) shows around UGR(Unmanned Ground Robot). We need UGV detection and tracking method for UFR following UGR always. The proposed system uses TLD(Tracking Learning Detection) method to rapidly and robustly estimate the motion of the new detected UGR between consecutive frames. The TLD system trains an on-line UGR detector for the tracked UGR. The proposed system uses the extended Kalman filter in order to enhance the performance of the tracker. As a result, we provided the tele-operator with the visual information for convenient control.