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http://dx.doi.org/10.5391/JKIIS.2014.24.3.271

Design and Implementation of the Stop line and Crosswalk Recognition Algorithm for Autonomous UGV  

Lee, Jae Hwan (School of Computer Engineering, National Defense University)
Yoon, Heebyung (School of Computer Engineering, National Defense University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.24, no.3, 2014 , pp. 271-278 More about this Journal
Abstract
In spite of that stop line and crosswalk should be aware of the most basic objects in transportation system, its features extracted are very limited. In addition to image-based recognition technology, laser and RF, GPS/INS recognition technology, it is difficult to recognize. For this reason, the limited research in this area has been done. In this paper, the algorithm to recognize the stop line and crosswalk is designed and implemented using image-based recognition technology with the images input through a vision sensor. This algorithm consists of three functions.; One is to select the area, in advance, needed for feature extraction in order to speed up the data processing, 'Region of Interest', another is to process the images only that white color is detected more than a certain proportion in order to remove the unnecessary operation, 'Color Pattern Inspection', the other is 'Feature Extraction and Recognition', which is to extract the edge features and compare this to the previously-modeled one to identify the stop line and crosswalk. For this, especially by using case based feature comparison algorithm, it can identify either both stop line and crosswalk exist or just one exists. Also the proposed algorithm is to develop existing researches by comparing and analysing effect of in-vehicle camera installation and changes in recognition rate of distance estimation and various constraints such as backlight and shadow.
Keywords
Stop Line; Crosswalk; Edge Pattern Recognition; Image-based Recognition Technology; Interest Area;
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Times Cited By KSCI : 2  (Citation Analysis)
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