1. Department of Multimedia Engineering, Dongguk University-Seoul, 30, Pildongro-1-gil, Jung-gu, Seoul 04620, Republic of Korea
2. Autonomous Driving Research Department, KoROAD (Korea Road Traffic Authority) 2, Hyeoksin-ro, Wonu-si, Gangwon-do 26466, Republic of Korea
3. Division of AI Software Convergence, Dongguk University-Seoul, 30, Pildongro-1-gil, Jung-gu, Seoul 04620, Republic of Korea