• Title/Summary/Keyword: 역투영 변환

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A Real-time Lane Tracking Using Inverse Perspective Mapping (역투영 변환을 이용한 고속도로 환경에서의 실시간 차선 추적)

  • Yeo, Jae-yun;Koo, Kyung-mo;Cha, Eui-young
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • 2013.10a
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    • pp.103-107
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    • 2013
  • In this paper, A real-time lane tracking algorithm is proposed for lane departure warning system. To eliminate perspective effect, input image is converted into Bird's View by inverse perspective mapping. Next, suitable features are extracted for lane detection. Lane feature that correspond to area of interest and RANSAC are used to detect lane candidates. And driving lane is decided by clustering of lane candidates. Finally, detected lane is tracked using the Kalman filter. Experimental results show that the proposed algorithm can be processed within 30ms and its detection rate is approximately 90% on the highway in a variety of environments such as day and night.

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A Lane Tracking Algorithm Using IPM and Kalman Filter (역투영 변환과 칼만 필터를 이용한 주행차선 추적)

  • Yeo, Jae-Yun;Koo, Kyung-Mo;Cha, Eui-Young
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.17 no.11
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    • pp.2492-2498
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    • 2013
  • In this paper, A lane tracking algoritm is proposed for lane departure warning system. To eliminate perspective effect, input image is converted into Bird's View by inverse perspective mapping. Next, suitable features are extracted for lane detection. Using clustering and lane similarity function with noise suppression features are extracted. Finally, lane model is calculated using RANSAC and lane model is tracked using Kalman Filter. Experimental results show that the proposed algorithm can be processed within 20ms and its detection rate approximately 90% on the highway in a variety of environments.

A Study on the Parallel Processing Architecture for the Real Time Image Reconstruction of X-ray CT (X-ray CT의 실시간 영상재구성을 위한 병렬처리 구조에 관한 연구)

  • Jin, Seung-Oh;Heo, Chang-Won;Huh, Young
    • Proceedings of the KIEE Conference
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    • 1999.07g
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    • pp.3153-3155
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    • 1999
  • 최근 수년간 의료영상분야는 국내외적으로 급격한 발전을 거듭하고 있다. 특히 자기공명영상장치 (Magnetic Resonance Imaging), X-ray CT(Computed Tomography)와 단층촬영장치는 인체내부를 비침습적(non-invasive)으로 영상화함으로써 해부학적인 질병진단에 많은 장점을 가지고 있다. 이와같은 단층영상 재구성에는 역매트릭스법(matrix inversion). 반복재구성법(interative method), 역투영 법(back-projection), 2차원 Fourier 변환법(2D FFT), 중첩재구성법(Filtered back-projection) 등의 다양한 알고리즘을 사용하고 있다. 본 연구에서는 X-ray CT에서의 단층영상재구성 기법 중 널리 사용되고 있는 Filtered Back Projection 기법의 연산순서도와 연산량을 분석하고 이를 시뮬레이션을 통하여 확인하고 실시간 영상재구성을 위하여 범용 Digital Signal Processor의 병렬처리시스템 구성에 기반된 최적 Architecture를 선정하고자 한다.

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View Morphing for Generation of In-between Scenes from Un-calibrated Images (비보정 (un-calibrated) 영상으로부터 중간영상 생성을 위한 뷰 몰핑)

  • Song Jin-Young;Hwang Yong-Ho;Hong Hyun-Ki
    • Journal of KIISE:Computer Systems and Theory
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    • v.32 no.1
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    • pp.1-8
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    • 2005
  • Image morphing to generate 2D transitions between images may be difficult even to express simple 3D transformations. In addition, previous view morphing method requires control points for postwarping, and is much affected by self- occlusion. This paper presents a new morphing algorithm that can generate automatically in-between scenes from un-calibrated images. Our algorithm rectifies input images based on the fundamental matrix, which is followed by linear interpolation with bilinear disparity map. In final, we generate in-between views by inverse mapping of homography between the rectified images. The proposed method nay be applied to photographs and drawings, because neither knowledge of 3D shape nor camera calibration, which is complex process generally, is required. The generated in-between views can be used in various application areas such as simulation system of virtual environment and image communication.

Genetic Programming based Illumination Robust and Non-parametric Multi-colors Detection Model (밝기변화에 강인한 Genetic Programming 기반의 비파라미터 다중 컬러 검출 모델)

  • Kim, Young-Kyun;Kwon, Oh-Sung;Cho, Young-Wan;Seo, Ki-Sung
    • Journal of the Korean Institute of Intelligent Systems
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    • v.20 no.6
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    • pp.780-785
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    • 2010
  • This paper introduces GP(Genetic Programming) based color detection model for an object detection and tracking. Existing color detection methods have used linear/nonlinear transformatin of RGB color-model and improved color model for illumination variation by optimization or learning techniques. However, most of cases have difficulties to classify various of colors because of interference of among color channels and are not robust for illumination variation. To solve these problems, we propose illumination robust and non-parametric multi-colors detection model using evolution of GP. The proposed method is compared to the existing color-models for various colors and images with different lighting conditions.

Video Object Extraction Using Contour Information (윤곽선 정보를 이용한 동영상에서의 객체 추출)

  • Kim, Jae-Kwang;Lee, Jae-Ho;Kim, Chang-Ick
    • Journal of the Institute of Electronics Engineers of Korea SP
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    • v.48 no.1
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    • pp.33-45
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    • 2011
  • In this paper, we present a method for extracting video objects efficiently by using the modified graph cut algorithm based on contour information. First, we extract objects at the first frame by an automatic object extraction algorithm or the user interaction. To estimate the objects' contours at the current frame, motion information of objects' contour in the previous frame is analyzed. Block-based histogram back-projection is conducted along the estimated contour point. Each color model of objects and background can be generated from back-projection images. The probabilities of links between neighboring pixels are decided by the logarithmic based distance transform map obtained from the estimated contour image. Energy of the graph is defined by predefined color models and logarithmic distance transform map. Finally, the object is extracted by minimizing the energy. Experimental results of various test images show that our algorithm works more accurately than other methods.

Hardware Architecture Design and Implementation of IPM-based Curved Lane Detector (IPM기반 곡선 차선 검출기 하드웨어 구조 설계 및 구현)

  • Son, Haengseon;Lee, Seonyoung;Min, Kyoungwon;Seo, Sungjin
    • The Journal of Korea Institute of Information, Electronics, and Communication Technology
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    • v.10 no.4
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    • pp.304-310
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    • 2017
  • In this paper, we propose the architecture of an IPM based lane detector for autonomous vehicles to detect and control the driving route along the curved lane. In the IPM image, we divide the area into two fields, Far/Near Field, and the lane candidate region is detected using the Hough transform to perform the matching for the curved lane. In autonomous vehicles, various algorithms must be embedded in the system. To reduce the system resources, we proposed a method to minimize the number of memory accesses to the image and various parameters on the external memory. The proposed circuit has 96% lane recognition rate and occupies 16% LUT, 5.9% FF and 29% BRAM in Xilinx XC7Z020. It processes Full-HD image at a rate of 42 fps at a 100 MHz operating clock.