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김제연(Jeyeon Kim),서재규(Jae Kyu Suhr),정호기(Ho Gi Jung),조훈(Hoon Jo),김회율(Whoi-Yul Kim) 대한전자공학회 2016 대한전자공학회 학술대회 Vol.2016 No.11
Generally, Stixel is based on a stereo camera, and used for the forward environment representation. This paper proposes monocular camera-based Stixel for the rear environment representation. In particular, this paper focuses on the obstacle height estimation using sparse disparity map. Disparity and appearance information is fused in this paper since the sparse disparity map acquired by motion stereo has little information compared to dense disparity map. Experimental results show that the proposed method can successfully estimate obstacle height in actual parking lots.
전방 카메라를 이용한 주행 가능 영역의 노면 종류 인식 방법
정세열(Seiyoul Jung),이홍준(Hongjun Lee),김승현(Seunghyun Kim),김제연(Jeyeon Kim),김회율(Whoi-Yul Kim) 대한전자공학회 2020 대한전자공학회 학술대회 Vol.2020 No.8
This paper proposes a road surface type classification method using front—view camera. The proposed method classifies road surface types in drivable area as asphalt brick and unpaved road. The drivable area is extracted from a front—view image using deep learning. Furthermore, the road area is divided using LiDAR data to deal with the road sections in which road surface type changes. Experiments demonstrate that the proposed method recognized the various types of road surface in the drivable area.