• KIPS Transactions on Software and Data Engineering
• /
• v.2 no.6
• /
• pp.413-422
• /
• 2013

In this paper, we propose a novel method for real-time lane detection that is robust for inclined roads and not require a camera parameter, the Inverse Perspective Transform of the image, and the proposed lane filter. After finding the vanishing point from the start frame of the image and storing the region surrounding the vanishing point as the Template Area(TA), our method predict the lanes by scanning toward the lower part from the vanishing point of the image and obtain the image removed the perspective effect using the Inverse Perspective Transform coefficients extracted based on the predicted lanes. To robustly determine lanes on inclined roads, the region surrounding the vanishing point is set up as the template area (TA), and, by recalculating the vanishing point by tracing the area similar to the TA (SA) in the input image through template matching, it responds to the changes on the road conditions. The proposed method for a more robust lane detection method for inclined roads is a lane detection method by applying a lane detection filter on an image removed of the perspective effect. Through this method, the processing region is reduced and the processing procedure is simplified to produce a satisfactory lane detection result of about 40 frames per second.

• Journal of the Korean Society for Precision Engineering
• /
• v.18 no.3
• /
• pp.68-74
• /
• 2001

A lane detection based on a road model or feature all needs correct acquirement of information on the lane in an image. It is inefficient to implement a lane detection algorithm through the full range of an image when it is applied to a real road in real time because of the calculating time. This paper defines two (other proper terms including"modes") for detecting lanes on a road. First is searching mode that is searching the lane without any prior information of a road. Second is recognition mode, which is able to reduce the size and change the position of a searching range by predicting the position of a lane through the acquired information in a previous frame. It allows to extract accurately and efficiently the edge candidate points of a lane without any unnecessary searching. By means of inverse perspective transform which removes the perspective effect on the edge candidate points, we transform the edge candidate information in the Image Coordinate System(ICS) into the plan-view image in the World Coordinate System(WCS). We define a linear approximation filter and remove faulty edge candidate points by using it. This paper aims at approximating more correctly the lane of an actual road by applying the least-mean square method with the fault-removed edge information for curve fitting.e fitting.

• Communications of Mathematical Education
• /
• v.36 no.1
• /
• pp.23-38
• /
• 2022

The study provided a perspective on which readers can see Newton's proof heuristically in order to overcome the difficulty of proof showing 'QT²/QR converges to the latus rectum of ellipse' in the proof of the inverse square law of Newton's Principia. The heuristic perspective is as follows: The starting point of the proof is the belief that if we transform the denominators and numerators of QT²/QR into expression with respect to segments related to diameter and conjugate diameter, we may obtain some constant, the desired value, by their relationship PV × VG/QV² = PC²/CD² in Apollonius' Conic sections. The heuristic perspective proposed in this study is meaningful because it can help readers understand Newton's proof more easily by presenting the direction of transformation of QT²/QR.

• Proceedings of the KIEE Conference
• /
• 2000.07d
• /
• pp.2843-2845
• /
• 2000

A lane detection based on a road model or feature all need correct acquirement of information on the lane in a image, It is inefficient to implement a lane detection algorithm through the full range of a image when being applied to a real road in real time because of the calculating time. This paper defines two searching range of detecting lane in a road, First is searching mode that is searching the lane without any prior information of a road, Second is recognition mode, which is able to reduce the size and change the position of a searching range by predicting the position of a lane through the acquired information in a previous frame. It is allow to extract accurately and efficiently the edge candidates points of a lane as not conducting an unnecessary searching. By means of removing the perspective effect of the edge candidate points which are acquired by using the inverse perspective transformation, we transform the edge candidate information in the Image Coordinate System(ICS) into the plane-view image in the World Coordinate System(WCS). We define linear approximation filter and remove the fault edge candidate points by using it This paper aims to approximate more correctly the lane of an actual road by applying the least-mean square method with the fault-removed edge information for curve fitting.

• KIPS Transactions on Software and Data Engineering
• /
• v.3 no.7
• /
• pp.277-284
• /
• 2014

The detection method of curves for the lanes which is powerful for the variation by utilizing the lane variation vector and cardinal spline on the inverse perspective transformation screen images which do not required the camera parameters are suggested in this paper. This method detects the lane area by setting the expected lane area in the s frame and next s+1 frame where the inverse perspective transformation and entire process of the lane filter are adapted, and expects the points of lane location in the next frames with the lane variation vector calculation from the detected lane areas. The scan area is set from the nextly expected lane position and new lane positions are detected within these areas, and the lane variation vectors are renewed with the detected lane position and the lanes are detected with application of cardinal spline for the control points inside the lane areas. The suggested method is a powerful method for curved lane detection, but it was adopted to the linear lanes too. It showed an excellent lane detection speed of about 20ms in processing a frame.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1700-1705
• /
• 2003

In this paper, the automatic steering system for unmanned vehicle was developed. The vision system is used for the lane detection system. This paper defines two modes for detecting lanes on a road. First is searching mode and the other is recognition mode. We use inverse perspective transform and a linear approximation filter for accurate lane detections. The PD control theory is used for the design of the controller to compare with $H_{\infty}$ control theory. The $H_{\infty}$ control theory is used for the design of the controller to reduce the disturbance. The performance of the PD controller and $H_{\infty}$ controller is compared in simulations and tests. The PD controller is easy to tune in the test site. The $H_{\infty}$ controller is robust for the disturbances in the test results.

• Korean Journal of Remote Sensing
• /
• v.15 no.3
• /
• pp.167-175
• /
• 1999

So far, the remote sensing technology has widely been used in a variety of application areas such as military, medical imaging, environment, geology and so forth. The microwave remote sensing uses the wavelengths ranging from around one centimeter up to a few tens of centimeters and is known to be very effective regardless of the weather conditions and the day/night time as compared with the reflective InfraRed (IR) remote sensing or the thermal IR remote sensing. There are three generic modes of synthetic aperture radar imaging systems depending on its application, that is, stripmap mode, spotlight mode, or inverse mode. In this article we focus on the issue of imaging of flying aircrafts for the inverse mode of a ground - based, fixed radar with moving objects. The imaging of flying aircrafts is considered to be an important step for the automatic target recognition systems, and therefore a great deal of efforts have recently been made on the subject. Here we review the three representative methods including the Fourier transform processing, the time - frequency processing, and the reconstruction from the projection. Some relative merits and drawbacks are also discussed.

• Journal of IKEEE
• /
• v.21 no.4
• /
• pp.358-367
• /
• 2017

Advanced Driver Assistance Systems(ADAS), such as Front Collision Warning System (FCWS) are currently being developed. FCWS require high processing speed because it must operate in real time while driving. In addition, a low-power system is required to operate in an automobile embedded system. In this paper, FCWS is implemented in CPU-FPGA architecture in embedded system to enable real-time processing. The lane detection enabled the use of the Inverse Transform Perspective (IPM) and sliding window methods to operate at fast speed. To detect the vehicle, a Convolutional Neural Network (CNN) with high recognition rate and accelerated by parallel processing in FPGA is used. The proposed architecture was verified using Intel FPGA Cyclone V SoC(System on Chip) with ARM-Core A9 which operates in low power and on-board FPGA. The performance of FCWS in HD resolution is 44FPS, which is real time, and energy efficiency is about 3.33 times higher than that of high performance PC enviroment.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.7
• /
• pp.625-631
• /
• 2010

This paper proposes lane recognition algorithm using lane prominence technique to extract lane candidate. The lane prominence technique is combined with embossing effect, lane thickness check, and lane extraction using mask. The proposed lane recognition algorithm consists of preprocessing, lane candidate extraction and lane recognition. First, preprocessing is executed, which includes gray image acquisition, inverse perspective transform and gaussian blur. Second, lane candidate is extracted by using lane prominence technique. Finally, lane is recognized by using hough transform and least square method. To evaluate the proposed lane recognition algorithm, this algorithm was applied to the detection of lanes in the rainy and night day. The experiment results showed that the proposed algorithm can recognize lane in various environment. It means that the algorithm can be applied to lane recognition to drive unmanned vehicles.

• Journal of Korean Tunnelling and Underground Space Association
• /
• v.24 no.3
• /
• pp.247-262
• /
• 2022

In domestic tunnels, it is mandatory to install CCTVs in tunnels longer than 200 m which are also recommended by installation of a CCTV-based automatic accident detection system. In general, the CCTVs in the tunnel are installed at a low height as well as near by the moving vehicles due to the spatial limitation of tunnel structure, so a severe perspective effect takes place in the distance of installed CCTV and moving vehicles. Because of this effect, conventional CCTV-based accident detection systems in tunnel are known in general to be very hard to achieve the performance in detection of unexpected accidents such as stop or reversely moving vehicles, person on the road and fires, especially far from 100 m. Therefore, in this study, the region of interest is set up and a new concept of inverse perspective transformation technique is introduced. Since moving vehicles in the transformed image is enlarged proportionally to the distance from CCTV, it is possible to achieve consistency in object detection and identification of actual speed of moving vehicles in distance. To show this aspect, two datasets in the same conditions are composed with the original and the transformed images of CCTV in tunnel, respectively. A comparison of variation of appearance speed and size of moving vehicles in distance are made. Then, the performances of the object detection in distance are compared with respect to the both trained deep-learning models. As a result, the model case with the transformed images are able to achieve consistent performance in object and accident detections in distance even by 200 m.