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학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2011.5
- 수록면
- 419 - 428 (10page)
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초록· 키워드
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This paper suggests a judgement method for an inclined plane before entrance of it and the detection of obstacle position. Main idea is started from the assumption that obstacle is always on the bottom plane, and comer appears at this position. The process to detect the obstacle consists of three steps. First the 3D data using stereo matching is acquired to detect an obstacle. Second a bottom plane is extracted by using limit condition. Last the obstacle position is found by using Harris corner detection. obstacle position detection on an inclined plane was verified by outdoor and indoor experiment. In error analysis, it is confirmed that an average error of obstacle detection in outdoor was larger than the error in indoor but the error are within about 0.030m. This method will be applied to unmanned vehicles to navigate under various environment.
목차
Abstract
Ⅰ. 서론
Ⅱ. 랜덤하프변환을 이용한 바닥면 추출
Ⅲ. 코너추출을 이용한 장애물 인식
Ⅳ. 실험
Ⅴ. 결론
참고문헌
참고문헌 (15)
참고문헌 신청
1. [학술지(정기간행물)] - V. Agarwal / 2009 / A cost-effective ultrasonic sensor-based driver-assistance system for congested traffic conditions / IEEE Transactions on Intelligent Transportation Systems 10 (3) : 486 ~
3. [학술지(정기간행물)] - M. S. Darms / 2009 / Obstacle detection and tracking for the urban challenge / IEEE Transactions on Intelligent Transportation Systems 10 (3) : 475 ~ 485
4. [학술지(정기간행물)] - M. Schwarzinger / 1992 / Vision-based car-following: detection, tracking,and identification / Proc. of the Intelligent Vehicles 92 Symposium 10 (9) : 24 ~ 29
5. [학술지(정기간행물)] - R. Ponticelli / 2010 / Obtaining terrain maps and obstacle contours for terrain-recognition tasks / Mechatronics 20 (2) : 236 ~ 250
6. [학술지(정기간행물)] - D.-J. Kang / 2009 / A detection cell using multiple points of a rotating triangle to find local planar regions from stereo depth data / PATTERN RECOGNITION LETTERS 30 (5) : 486 ~ 493
3. [학술지(정기간행물)] - M. S. Darms / 2009 / Obstacle detection and tracking for the urban challenge / IEEE Transactions on Intelligent Transportation Systems 10 (3) : 475 ~ 485
4. [학술지(정기간행물)] - M. Schwarzinger / 1992 / Vision-based car-following: detection, tracking,and identification / Proc. of the Intelligent Vehicles 92 Symposium 10 (9) : 24 ~ 29
5. [학술지(정기간행물)] - R. Ponticelli / 2010 / Obtaining terrain maps and obstacle contours for terrain-recognition tasks / Mechatronics 20 (2) : 236 ~ 250
6. [학술지(정기간행물)] - D.-J. Kang / 2009 / A detection cell using multiple points of a rotating triangle to find local planar regions from stereo depth data / PATTERN RECOGNITION LETTERS 30 (5) : 486 ~ 493
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UCI(KEPA) : I410-ECN-0101-2013-569-003495726