Journal of Korea Society of Industrial Information Systems (한국산업정보학회논문지)

Korea Society of Industrial Information Systems (한국산업정보학회)
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Road Tracking based on Prior Information in Video Sequences

비디오 영상에서 사전정보 기반의 도로 추적

  • 이창우 (군산대학교 컴퓨터정보공학과)
  • Received : 2013.01.18
  • Accepted : 2013.04.02
  • Published : 2013.04.30
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Abstract

In this paper, we propose an approach to tracking road regions from video sequences. The proposed method segments and tracks road regions by utilizing the prior information from the result of the previous frame. For the efficiency of the system, we have a simple assumption that the road region is usually shown in the lower part of input images so that lower 60% of input images is set to the region of interest(ROI). After initial segmentation using flood-fill algorithm, we merge neighboring regions based on color similarity measure. The previous segmentation result, in which seed points for the successive frame are extracted, is used as prior information to segment the current frame. The similarity between the road region of the previous frame and that of the current frame is measured by the modified Jaccard coefficient. According to the similarity we refine and track the detected road regions. The experimental results reveal that the proposed method is effective to segment and track road regions in noisy and non-noisy environments.

본 논문에서는 실 도로 환경에서 획득한 영상으로부터 도로 영역을 추적하는 방법을 제안한다. 제안된 방법은 이전 처리 결과로부터 미리 알려진 정보를 이용하여 현재 영상에서 도로를 검출하고 추적하는 방법이다. 제안된 방법은 시스템의 효율을 위해 연속적인 입력 영상에서 하위 60%이내에 도로가 있다고 가정하여 관심의 대상이 되는 영역(Region of Interest, ROI)을 설정하고 이 영역에서만 도로를 검출하고 추적한다. 최초 분할은 플러드필 알고리즘(Flood-fill algorithm)을 수행한 결과로부터 주위 영역과의 유사성을 평가한 후 병합하여 분할한다. 사전 정보로 사용되는 이전 영상에서 분할 결과에서 시드점(Seed Point)을 추출하고 이 시드점을 기준으로 현재 영상을 분할한다. 이전 영상에서 분할된 도로 영역과 현재 영상에서 분할된 결과를 변형된 자카드 계수(Jaccard coefficient)를 이용한 유사도 측정 결과에 따라 다음 영상에서 도로영역을 정제하고 추적한다. 연속적인 입력 영상을 대상으로 실험한 결과는 잡음이 존재하는 영상에서도 도로를 추적하는데 효과적임을 보여준다.

Keywords

References

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