Journal of Advanced Navigation Technology (한국항행학회논문지)

The Korean Navigation Institute (한국항행학회)
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A Time Synchronization Scheme for Vision/IMU/OBD by GPS

GPS를 활용한 Vision/IMU/OBD 시각동기화 기법

  • Lim, JoonHoo (School of Electronics, Telecomm. & Computer Eng., Korea Aerospace University) ;
  • Choi, Kwang Ho (School of Electronics, Telecomm. & Computer Eng., Korea Aerospace University) ;
  • Yoo, Won Jae (School of Electronics and Information Eng., Korea Aerospace University) ;
  • Kim, La Woo (School of Electronics and Information Eng., Korea Aerospace University) ;
  • Lee, Yu Dam (School of Electronics and Information Eng., Korea Aerospace University) ;
  • Lee, Hyung Keun (School of Electronics and Information Eng., Korea Aerospace University)
  • 임준후 (한국항공대학교 항공전자공학과) ;
  • 최광호 (한국항공대학교 항공전자공학과) ;
  • 유원재 (한국항공대학교 항공전자정보공학과(부)) ;
  • 김라우 (한국항공대학교 항공전자정보공학과(부)) ;
  • 이유담 (한국항공대학교 항공전자정보공학과(부)) ;
  • 이형근 (한국항공대학교 항공전자정보공학과(부))
  • Received : 2017.04.28
  • Accepted : 2017.06.24
  • Published : 2017.06.30
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Abstract

Recently, hybrid positioning system combining GPS, vision sensor, and inertial sensor has drawn many attentions to estimate accurate vehicle positions. Since accurate multi-sensor fusion requires efficient time synchronization, this paper proposes an efficient method to obtain time synchronized measurements of vision sensor, inertial sensor, and OBD device based on GPS time information. In the proposed method, the time and position information is obtained by the GPS receiver, the attitude information is obtained by the inertial sensor, and the speed information is obtained by the OBD device. The obtained time, position, speed, and attitude information is converted to the color information. The color information is inserted to several corner pixels of the corresponding image frame. An experiment was performed with real measurements to evaluate the feasibility of the proposed method.

차량의 정확한 위치 추정을 위하여 GPS (global positioning system)와 영상 센서, 관성 센서 등을 결합한 복합 측위에 대한 연구가 활발히 진행되고 있다. 본 논문에서는 복합 측위에 있어 중요한 요소 중 하나인 각 센서 간의 시각동기화 기법을 제안한다. 제안된 기법은 GPS 시각 정보를 기준으로 시각동기화 된 영상 센서, 관성 센서와 OBD (on-board diagnostics) 측정치를 획득하는 기법이다. GPS로부터 시각 정보와 위치 정보를 획득하며, 관성 센서로부터 차량의 자세에 관련된 측정치와 OBD를 활용하여 차량의 속력을 획득한다. 영상 센서로부터 획득한 영상에 GPS 시각 정보와 위치 정보, 관성 센서와 OBD의 측정치를 색상으로 변환하여 영상 픽셀에 삽입하는 기법을 제안한다. 또한, 영상에 삽입된 시각동기화 된 센서 측정치들은 변환 과정을 통하여 추출할 수 있다. 각 센서들의 결합을 위하여 임베디드 리눅스 보드를 활용하였으며, 제안된 기법의 성능 평가를 위하여 실제 차량 주행을 통한 실험을 수행하였다.

Keywords

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