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U-시차맵과 조감도를 이용한 스테레오 비전 기반의 장애물체 검출 및 차량 검증 방법

Title
U-시차맵과 조감도를 이용한 스테레오 비전 기반의 장애물체 검출 및 차량 검증 방법
Translated Title
Stereo Vision-Based Obstacle Detection and Vehicle Verification Methods Using U-Disparity Map and Bird's-Eye View Mapping
Authors
이충희임영철권순이종훈
DGIST Authors
이충희임영철권순이종훈
Issue Date
2010-11
Citation
전자공학회논문지 - SC, 47(6), 86-96
Type
Article
Keywords
Stereo visionObstacle detectionVehicle verificationU-disparityBird&aposs-eye view
ISSN
1229-6392
Abstract
In this paper, we propose stereo vision-based obstacle detection and vehicle verification methods using U-disparity map and bird's-eye view mapping. First, we extract a road feature using maximum frequent values in each row and column. And we extract obstacle areas on the road using the extracted road feature. To extract obstacle areas exactly we utilize U-disparity map. We can extract obstacle areas exactly on the U-disparity map using threshold value which consists of disparity value and camera parameter. But there are still multiple obstacles in the extracted obstacle areas. Thus, we perform another processing, namely segmentation. We convert the extracted obstacle areas into a bird's-eye view using camera modeling and parameters. We can segment obstacle areas on the bird's-eye view robustly because obstacles are represented on it according to ranges. Finally, we verify the obstacles whether those are vehicles or not using various vehicle features, namely road contacting, constant horizontal length, aspect ratio and texture information. We conduct experiments to prove the performance of our proposed algorithms in real traffic situations.
URI
http://hdl.handle.net/20.500.11750/5697
Publisher
대한전자공학회
Related Researcher
Files:
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Collection:
Intelligent Devices and Systems Research Group1. Journal Articles
Convergence Research Center for Future Automotive Technology1. Journal Articles


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