무인선의 비전기반 장애물 충돌 위험도 평가

다국어 초록 (Multilingual Abstract)

This paper proposes vision-based collision risk estimation method for an unmanned surface vehicle. A robust imageprocessing algorithm is suggested to detect target obstacles from the vision sensor. Vision-based Target Motion Analysis (TMA) was performed to transform visual information to target motion information. In vision-based TMA, a camera model and optical flow are adopted. Collision risk was calculated by using a fuzzy estimator that uses target motion information and vision information as input variables. To validate the suggested collision risk estimation method, an unmanned surface vehicle experiment was performed.

목차 (Table of Contents)

• Abstract
• I. 서론
• II. 장애물탐지를 위한 영상처리
• III. 비전기반 표적기동분석
• IV. 충돌 위험도 추정
• V. 실험 결과
• VI. 결론
• REFERENCES

참고문헌 (Reference)

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