• 제목/요약/키워드: Road plane estimation

검색결과 9건 처리시간 0.027초

호모그래피행렬을 이용한 노면검출 (Ground Plane Detection Using Homography Matrix)

  • 이기용;이준웅
    • 제어로봇시스템학회논문지
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    • 제17권10호
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    • pp.983-988
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    • 2011
  • This paper presents a robust method for ground plane detection in vision-based applications based on a monocular sequence of images with a non-stationary camera. The proposed method, which is based on the reliable estimation of the homography between two frames taken from the sequence, aims at designing a practical system to detect road surface from traffic scenes. The homography is computed using a feature matching approach, which often gives rise to inaccurate matches or undesirable matches from out of the ground plane. Hence, the proposed homography estimation minimizes the effects from erroneous feature matching by the evaluation of the difference between the predicted and the observed matrices. The method is successfully demonstrated for the detection of road surface performed on experiments to fill an information void area taken place from geometric transformation applied to captured images by an in-vehicle camera system.

지방부 일반국도 4차로의 화물차 주행속도 예측모형 개발 (A Development of the Operating Speed Estimation Model of Truck on Four-lane Rural Highway)

  • 박민호;이근희
    • 한국도로학회논문집
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    • 제16권5호
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    • pp.173-182
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    • 2014
  • PURPOSES : The purpose of the study is to a) explore the operating speed of trucks on rural highways affected by road geometry, and thereby b) develop a predictive model for the operating speed of trucks on rural highways. METHODS : Considering that most of the existing studies have focused on cars, the current study aimed to predict the operating speed of trucks by conducting linear regression analysis on the speed data of trucks operating on the linear-curved-linear portions of the road as a single set. RESULTS : The operating speed in the plane curve portion increased with the length of the curve, and decreased with a lower vertical grade and a smaller curve radius. In the straight plane portion, the operating speed increased with a larger curve radius(upstream), and decreased with an increase in the change of the vertical grade, depending on the length of the vertical curve. CONCLUSIONS : This study developed estimation models of truck for operational speed and evaluated the degree of safety for horizontal and vertical alignments simultaneous. In order to represent whole area of the rural highway, the models should be ew-analyzed with vast data related with road alignment factor in the near future.

통신 네트워크에서 상태 추정에 의한 군집병합의 원격제어 (Vehicle Platooning Remote Control via State Estimation in a Communication Network)

  • 황태현;최재원;김영호
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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    • pp.192-192
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    • 2000
  • In this paper, a platoon merging is considered as a remote-controlled system with the state represented by a stochastic process. In this system, it becomes to encounter situations where a single decision maker controls a large number of subsystems, and observation and control signals are sent over a communication channel with finite capacity and significant transmission delays. Unlike classical estimation problem in which the observation is a continuous process corrupted by additive noise, there is a constraint that the observation must be coded and transmitted over a digital communication channel with finite capaci쇼. A recursive coder-estimator sequence is a state estimation scheme based on observations transmitted with finite communication capacity constraint. Using the coder-estimator sequence, the remote control station designs a feedback controller. In this paper, we introduce a stochastic model for the lead vehicle in a platoon of vehicles considering the angle between a road surface and a horizontal plane as a stochastic process. The simulation results show that the inter-vehicle distance and the deviation from the desired inter-vehicle distance are well regulated.

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무한원점의 성질을 이용한 포장 및 비포장 도로에서의 카메라 교정 파라메터 추정 (The estimation of camera calibration parameters using the properties of vanishing point at the paved and unpaved road)

  • 정준익;정명희;노도환
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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    • pp.178-180
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    • 2006
  • In general, camera calibration has to be gone ahead necessarily to estimate a position and an orientation of the object exactly using a camera. Autonomous land system in order to run a vehicle autonomously needs a camera calibration method appling a camera and various road environment. Camera calibration is to prescribe the confrontation relation between third dimension space and the image plane. It means to find camera calibration parameters. Camera calibration parameters using the paved road and the unpaved road are estimated. The proposed algorithm has been detected through the image processing after obtaining the paved road and the unpaved road. There is able to detect easily edges because the road lanes exist in the raved road. Image processing method is two. One is a method on the paved road. Image is segmentalized using open, dilation, and erosion. The other is a method on the unpaved road. Edges are detected using blur and sharpening. So it has been made use of Hough transformation in order to detect the correct straight line because it has less error than least-square method. In addition to, this thesis has been used vanishing point' principle. an algorithm suggests camera calibration method using Hough transformation and vanishing point. When the algorithm was applied, the result of focal length was about 10.7[mm] and RMS errors of rotation were 0.10913 and 0.11476 ranges. these have the stabilized ranges comparatively. This shows that this algorithm can be applied to camera calibration on the raved and unpaved road.

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Superpixel-based Vehicle Detection using Plane Normal Vector in Dispar ity Space

  • Seo, Jeonghyun;Sohn, Kwanghoon
    • 한국멀티미디어학회논문지
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    • 제19권6호
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    • pp.1003-1013
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    • 2016
  • This paper proposes a framework of superpixel-based vehicle detection method using plane normal vector in disparity space. We utilize two common factors for detecting vehicles: Hypothesis Generation (HG) and Hypothesis Verification (HV). At the stage of HG, we set the regions of interest (ROI) by estimating the lane, and track them to reduce computational cost of the overall processes. The image is then divided into compact superpixels, each of which is viewed as a plane composed of the normal vector in disparity space. After that, the representative normal vector is computed at a superpixel-level, which alleviates the well-known problems of conventional color-based and depth-based approaches. Based on the assumption that the central-bottom of the input image is always on the navigable region, the road and obstacle candidates are simultaneously extracted by the plane normal vectors obtained from K-means algorithm. At the stage of HV, the separated obstacle candidates are verified by employing HOG and SVM as for a feature and classifying function, respectively. To achieve this, we trained SVM classifier by HOG features of KITTI training dataset. The experimental results demonstrate that the proposed vehicle detection system outperforms the conventional HOG-based methods qualitatively and quantitatively.

차량 군집주행을 위한 제어 네트워크의 변수 추정 및 제어 (State Estimation and Control in a Network for Vehicle Platooning Control)

  • 최재원;황태현;김영호
    • 제어로봇시스템학회논문지
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    • 제6권8호
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    • pp.659-665
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    • 2000
  • In this paper a platoon merging control system is considered as a remotely located system with state represented by a stochastic process. in the system it is common to encounter situations where a single decision maker controls a large number of subsystems and observation and control signals are sent over a communication channel with finite capacity and significant transmission delays. Unlike a classical estimation problem where the observation is a continuous process corrupted by additive noise there is a constraint that the observation must be coded and transmitted over a digital communication channel with fintie capacity. A recursive coder-estimator sequence is a state estimation scheme based on observations transmitted with finite communication capacity constraint. in this paper we introduce a stochastic model for the lead vehicle in a platoon of vehicles in a lane considering the angle between the road surface and a horizontal plane as a stochastic process. In order to merge two platoons the lead vehicle of the following platoon is controlled by a remote control station. Using the observation transmitted over communication channel the remote control station designs the feedback controller. The simulation results show that the intervehicle spacings and the deviations from the desired intervehicle spacing are well regulated.

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실시간 교통상황 모니터링 시스템을 위한 유저 친화적인 영상 변형 방법 (An User-Friendly Method of Image Warping for Traffic Monitoring System)

  • 이주호;조정원
    • 디지털융복합연구
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    • 제14권12호
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    • pp.231-236
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    • 2016
  • 현재 인터넷으로 감시 카메라를 이용하여 교통량을 보여주는 서비스가 제공되고 있으나, 일반적으로 사용자가 지도 위의 일정 위치를 지정하면 카메라가 장착되어 있는 기준으로 영상을 보여준다. 본 논문에서는 상단이 북쪽으로 표시되는 일반적인 지도에 현재 카메라에서 촬영되고 있는 도로의 영상을 지도 기준으로 위에서 바라보는 시점(Bird's-eye view)으로 변형(Warping)하여 보여줌으로써 사용자가 직관적으로 현재의 도로 상황을 한눈에 볼 수 있는 시스템을 제안하였다. 본 논문에서는 카메라 영상에서 보여주고 있는 도로 평면을 강인하게 추정하기 위해 밝기 변화에 강인할 수 있는 움직임 벡터를 이용하여 도로 평면을 추정하는 방법을 제안하며, 지도와 같은 방향성을 가질 수 있도록 재조정하는 과정을 적용하고 지도 위에 표시할 수 있는 사용자 친화적인 인터페이스를 제시하였다. 실험결과를 통해 본 논문에서 제안하는 방법이 지도와 같이 사용자가 인지하기 편리한 영상으로 변형되는 결과를 확인하였다.

입체선형의 주행속도를 고려한 편경사 안전율 산정에 관한 연구 (Estimation of the Superelevation Safety Factor Considering Operating Speed at 3-Dimensional Alignment)

  • 박태훈;김중효;박제진;박주원;하태준
    • 대한교통학회지
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    • 제23권7호
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    • pp.159-163
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    • 2005
  • 도로를 건설하는 궁극적인 목적은 운전자의 편의성을 고려해야 함에도 불구하고 지금까지의 도로선형설계시 도로 이용자인 운전자를 고려하지 않고 있는 실정이다. 운전자의 편의성은 시간적 측면에서 정시성 및 신속성을 고려하고 있지만, 더불어 부가적으로 고려되어야 할 요소로서 사고에 대한 안전성을 감안해야만 한다. 본 연구에서는 지방부 일반국도 4차선 단곡선부의 1차로를 대상으로 입체선형의 주행속도특성을 고려한 편경사 안전율을 산정하고자 한다. 첫째, 기하구조의 영향을 분석하기 위해 선행차에 의해 영향을 받지 않은 승용차의 주행속도를 조사하였다. 둘째, 종단선형의 영향과 평면선형의 영향을 조합하여 6개 구간, 즉 12개 지점에서 주행속도를 측정하여 주행속도 특성을 기초 통계 분석하였다. 섯째, 기초 통계 분석 결과를 바탕으로 최대편경사를 새로운 안전율(${\alpha}$)개념을 도입하여 주행속도를 고려한 편경사값을 산정하였다. 연구결과, 입체선형에서 승용차의 주행특성을 알 수 있었고, 이를 고려한 안전율을 제시할 수 있었다. 최대편경사를 산정함에 있어 본 연구의 결과인 3차원적 입체선형을 고려한 안전율을 적용한다면 도로설계시 운전자의 안전성을 향상시킬 수 있을 것으로 판단된다. 더불어, 본 연구의 범위를 확장하여 다양한 기하구조를 가진 도로구간에 대한 수집 분석한 후, 3차원적 입체선형을 고려한 모델이 개발되어야 할 것으로 판단된다.