한국자동차공학회논문집 (Transactions of the Korean Society of Automotive Engineers)

  • 제13권4호
  • /
  • Pages.97-104
  • /
  • 2005
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  • 1225-6382(pISSN)
  • /
  • 2234-0149(eISSN)
한국자동차공학회 (The Korean Society of Automotive Engineers)
권호 표지

센서 구성을 고려한 비전 기반 차선 감지 시스템 개발

Development of A Vision-based Lane Detection System with Considering Sensor Configuration Aspect

  • 박재학 (한양대학교 정밀기계공학과) ;
  • 홍대건 (한양대학교 정밀기계공학과) ;
  • 허건수 (한양대학교 기계공학부) ;
  • 박장현 (한양대학교 기계공학부) ;
  • 조동일 (서울대학교 전기컴퓨터 공학부)
  • Park Jaehak (Department of Precision Mech. Eng., Hanyang University) ;
  • Hong Daegun (Department of Precision Mech. Eng., Hanyang University) ;
  • Huh Kunsoo (School of Mechanical Engineering, Hanyang University) ;
  • Park Jahnghyon (School of Mechanical Engineering, Hanyang University) ;
  • Cho Dongil (School of Electrical Eng. And Computer Sci. Seoul National University)
  • 발행 : 2005.07.01
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초록

Vision-based lane sensing systems require accurate and robust sensing performance in lane detection. Besides, there exists trade-off between the computational burden and processor cost, which should be considered for implementing the systems in passenger cars. In this paper, a stereo vision-based lane detection system is developed with considering sensor configuration aspects. An inverse perspective mapping method is formulated based on the relative correspondence between the left and right cameras so that the 3-dimensional road geometry can be reconstructed in a robust manner. A new monitoring model for estimating the road geometry parameters is constructed to reduce the number of the measured signals. The selection of the sensor configuration and specifications is investigated by utilizing the characteristics of standard highways. Based on the sensor configurations, it is shown that appropriate sensing region on the camera image coordinate can be determined. The proposed system is implemented on a passenger car and verified experimentally.

키워드

참고문헌

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