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이대은(D. E. Yi),김정훈(J. H.. Kim),김영배(Y. B. Kim) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
In this paper, we describe a robust image processing algorithm to recognize the road lane in real-time. For the real-time processing, a detection area is decided by a lane segment of a previous frame and edges are detected on the basis of the lane width. For the robust driving, the global threshold with the Otsu algorithm is used to get a binary image in a frame. Therefore, reliable edges are obtained from the algorithms suggested in this paper in a short time. Lastly, the lane segment is found by hough transform. We made a RC(Radio Control) car equipped with a vision system and verified these algorithms using the RC Car.