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

한국전자통신학회 (Korea Institute of Electronic Communication Science)
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CAFFE 모델을 이용한 수량 측정 및 스테레오 비전을 이용한 거리 및 너비측정

Quantity Measurement by CAFFE Model and Distance and Width Measurement by Stereo Vision

  • 투고 : 2019.07.21
  • 심사 : 2019.08.15
  • 발행 : 2019.08.31
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초록

CAFFE 모델을 이용하여 클래스의 특정 종의 수량 측정하는 방법과 스테레오 비전을 이용하여 물체의 길이와 너비를 측정하는 방법을 제안한다. 물체의 너비를 구하는 방법은 좌측 센서와 우측 센서의 대상의 좌표 값을 비교하여 센서부터 물체까지의 거리를 계산한다. 그 후 거리와 영상 속의 대상의 길이를 구해 물체의 실제 길이의 근사 값을 계산한다.

We propose a method to measure the number of specific species of class using CAFFE model and a method to measure length and width of object using stereo vision. To obtain the width of an object, the location coordinates of objects appearing on the left and right sensor is compared and the distance from the sensor to the object is obtained. Then the length of the object in the image by using the distance and the approximate value of the actual length of the object is calculated.

키워드

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그림 1. 시스템 흐름도 Fig. 1 System flowchart

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그림 2. 수량 측정 흐름도 Fig. 2 Quantity measurement flowchart

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그림 3. 스테레오 비전 시스템 구상도 Fig. 3 Stereo vision system concept

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그림 4. 너비 및 거리 측정 도식화 Fig. 4 Schematic of width and distance measurement

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그림 5. 스테레오 비전 시스템 흐름도 Fig. 5 Stereo vision system flowchart

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그림 6. 실험 환경 Fig 6. Experiment environment

표 1. 장치 사양 Table. 1 Device Specifications

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표 2. 보정상수 계산 Table. 2 Calibration constant calculation

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표 3. 거리 및 너비측정 Table. 3 Measure distance and witdh

KCTSAD_2019_v14n4_679_t0003.png 이미지

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