Journal of the Institute of Electronics and Information Engineers (전자공학회논문지)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Novel VO and HO Map for Vertical Obstacle Detection in Driving Environment

새로운 VO, HO 지도를 이용한 차량 주행환경의 수직 장애물 추출

  • Baek, Seung-Hae (School of Electrical and Electronic Engineering, Kyungpook National University) ;
  • Park, Soon-Yong (School of Computer Science and Engineering, Kyungpook National University)
  • 백승해 (경북대학교 전자전기컴퓨터학부) ;
  • 박순용 (경북대학교 IT대학 컴퓨터학부)
  • Received : 2012.09.06
  • Published : 2013.02.25
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Abstract

We present a new computer vision technique which can detect unexpected or static vertical objects in road driving environment. We first obtain temporal and spatial difference images in each frame of a stereo video sequence. Using the difference images, we then generate VO and HO maps by improving the conventional V and H disparity maps. From the VO and HO maps, candidate areas of vertical obstacles on the road are detected. Finally, the candidate areas are merged and refined to detect vertical obstacles.

본 논문에서는 스테레오 카메라를 이용하여 차량 주행 중에 만날 수 있는 도로상의 수직형 돌발 장애물과 고정 장애물을 자동으로 추출하는 기술을 제안한다. 연속된 스테레오 영상 프레임들과 각 프레임의 좌, 우 영상 사이의 차영상들을 이용하여 도로 영상의 관심영역에 대한 시차를 획득하고, 기존 수직(V) 및 수평(H) 시차지도(disparity map)와는 달리 물체의 실제 크기에 비례하는 VO(Vertical Object) 및 HO(Horizontal Object)라는 새로운 지도를 생성한다. VO 및 HO 지도를 이용하여 추출할 물체의 후보를 선정하고 선정된 후보영역간의 병합, 정제를 통하여 최종적으로 도로 상의 수직 물체들을 추출하였다.

Keywords

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