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학술지 어안 이미지의 배경 제거 기법을 이용한 실시간 전방향 장애물 감지
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저자
최윤원, 권기구, 김종효, 나경진, 이석규
발행일
201508
출처
제어로봇시스템학회논문지, v.21 no.8, pp.766-772
ISSN
1976-5622
출판사
제어로봇시스템학회
DOI
https://dx.doi.org/10.5302/J.ICROS.2015.15.0003
협약과제
14ZC2400, 상황인지 스마트카를위한 다중 센서 플랫폼기술개발, 권기구
초록
This paper proposes an object detection method based on motion estimation using background subtraction in the fisheye images obtained through omni-directional camera mounted on the vehicle. Recently, most of the vehicles installed with rear camera as a standard option, as well as various camera systems for safety. However, differently from the conventional object detection using the image obtained from the camera, the embedded system installed in the vehicle is difficult to apply a complicated algorithm because of its inherent low processing performance. In general, the embedded system needs system-dependent algorithm because it has lower processing performance than the computer. In this paper, the location of object is estimated from the information of object's motion obtained by applying a background subtraction method which compares the previous frames with the current ones. The real-time detection performance of the proposed method for object detection is verified experimentally on embedded board by comparing the proposed algorithm with the object detection based on LKOF (Lucas-Kanade optical flow).
키워드
Background subtraction, Fish-eye image, Moving object detection
KSP 제안 키워드
Background subtraction(BS), Camera system, Detection Method, Embedded board, Embedded system, Fisheye images, Lucas-Kanade optical flow, Motion estimation(ME), Moving Object Detection, Omni-directional camera, Subtraction method