http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
도심지역 적용을 위한 uv-disparity 기반 장애물 검출 개선 방안
서재규(Jae Kyu Suhr),정호기(Ho Gi Jung) 한국자동차공학회 2011 한국자동차공학회 학술대회 및 전시회 Vol.2011 No.11
Obstacle detection based on v-disparity is one of the popular methods for detecting obstacles using a stereo camera. However, when applying this method to urban environments, v-disparity can severely be affected by buildings beside the roads. Therefore, this paper proposes a method to remove building surfaces from uv-disparity for enhancing the performance of vdisparity-based obstacle detection in urban environments. The proposed method first finds pixels consisting road surface and detects lanes to estimate the location of vanishing point. Then, u-disparity is divided into left and right parts according to the location of the vanishing point. Finally, building surfaces are detected and eliminated by estimating lines in each part of udisparity by using Hough transformation. Experimental results reveal that the uv-disparity with the proposed method more clearly shows obstacle regions compared to the uv-disparity without it.
서재규(Jae Kyu Suhr),배광혁(Bea Kwanghyuk),정호기(Ho Gi Jung),김재희(Jaihie Kim) 대한전자공학회 2007 대한전자공학회 학술대회 Vol.2007 No.7
This paper proposes an algorithm for rejecting mismatched points (known as outliers). The proposed algorithm identifies and rejects outliers in image pairs obtained under automobile-like motions which consist of two translations and one rotation. The camera rotation is approximated to the image shift by assuming that the narrow field of lens is used. The voting method estimates the focus of expansion (FOE) while shifting one of the images. Using the properties of the FOE, the outliers are rejected while most of the inliers are retained.
컴퓨터 비전 기반 자동주차 시스템을 위한 대응점 추출 방법 비교
서재규(Jae Kyu Suhr),정호기(Ho Gi Jung),김재희(Jaihie Kim) 대한전자공학회 2007 대한전자공학회 학술대회 Vol.2007 No.11
Computer vision-based automatic parking system reconstructs 3D structure of parking space and automatically finds a free parking space. For this task, point correspondences must be found on the automobile surface. Therefore, we evaluate the methods for finding point correspondences in this paper. As a result, feature tracking method is found to be the best in terms of point correspondence number, real-time processing, and key frame selection.
Piece-wise Linear 함수 기반 스테레오 영상에서의 도로면 추정 개선 방법
서재규(Jae Kyu Suhr),정호기(Ho Gi Jung) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11
This paper proposes a novel road surface estimation method using a piece-wise linear function and RANSAC framework. The proposed method achieves robustness against 3D points on obstacle surfaces by sampling 3D points expected to compose road surface, and it also makes the estimation procedure insensitive to stereo matching errors on textureless road regions by sequentially calculating a piece-wise linear function using a RANSAC-based robust line estimator with adaptively chosen road interval and slope angle parameters. Experimental results show that the proposed method successfully estimates road surfaces in various real world situations including complex road surface shape and severe stereo matching error.