상세정보
학술지
어안 이미지의 배경 제거 기법을 이용한 실시간 전방향 장애물 감지
- 발행일
- 201508
- 출처
- 제어로봇시스템학회논문지, v.21 no.8, pp.766-772
- ISSN
- 1976-5622
- 출판사
- 제어로봇시스템학회
- 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).
- KSP 제안 키워드
- Background subtraction(BS), Camera system, Detection Method, Embedded board, Embedded system, Fisheye images, Lucas-Kanade optical flow, Motion estimation(ME), Object detection, Omni-directional camera, Subtraction method