한국전자통신학회논문지 (The Journal of the Korea institute of electronic communication sciences)

한국전자통신학회 (Korea Institute of Electronic Communication Science)
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단안 카메라를 이용한 소형 자동차의 임무 수행

Performing Missions of a Minicar Using a Single Camera

  • 김진우 (서울과학기술대학교 자동차공학과 대학원) ;
  • 하종은 (서울과학기술대학교 기계.자동차공학과)
  • Kim, Jin-Woo ;
  • Ha, Jong-Eun (Dept. of Mechanical & Automotive Engineering, Seoul National University of Science and Technology)
  • 투고 : 2017.01.12
  • 심사 : 2017.02.24
  • 발행 : 2017.02.28
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초록

본 논문에서는 카메라 및 기타 센서 처리를 통한 소형차의 자율 주행을 통한 미션 수행에 대해 다루도록 한다. 주어진 차선내에서 안전한 운행을 위해서는 차선내에서의 차량의 자세 정보 추출이 필요하다. 이를 위해 호모그라피를 이용하도록 한다. 주어진 영상을 흑백 이미지로 변환후 이치화와 에지를 이용하여 차선에서 필요한 제어점들을 추출한다. 호모그라피를 이용하여 두 개의 제어점들을 세계 좌표계로 변환후 차량의 각도와 위치를 계산하도록 한다. 칼라 정보를 이용하여 신호등 판단을 하도록 한다. 실험을 통해 주어진 임무를 잘 수행함을 확인할 수 있었다.

This paper deals with performing missions through autonomous navigation using camera and other sensors. Extracting pose of the car is necessary to navigate safely within the given road. Homography is used to find it. Color image is converted into grey image and thresholding and edge is used to find control points. Two control ponits are converted into world coordinates using homography to find the angle and position of the car. Color is used to find traffic signal. It was confirmed that the given tasks performed well through experiments.

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참고문헌

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