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화상처리 기법을 이용한 도로의 백색선 인식에 관한 연구

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Alternative Title
A Study on Real-Time Recognition of Road Lane for Lateral Control of Autonomous Vehicle
Abstract
본 논문에서는 차량의 횡방향 제어알고리즘을 개발하기 위한 선행 단계로 CCD카메라에서 획득한 디지털 영상정보를 이용하여 백색 차선을 인식하는 알고리즘을 제시한다. 차선은 역원근 처리와 폭 정보를 이용한 경계선처리를 통해 원 화상을 차선의 명도가 강화된 형태로 변형시킨 다음, Metropolis 표준법을 이용한 Simulated Anealing 알고리즘을 사용하여 주어진 화상에서 차선일 확률이 가장 높은 차선모델을 선택하는 방법으로 인식한다. 이 차선인식 알고리즘은 PC급 컴퓨터성능의 비젼시스템에서 실시간으로 차선을 인식하며 특히 그림자가 있거나 불연속적인 경우 등의 다양한 조건에서도 차선을 인식할 수 있어 실차 적용의 가능성이 확인되었다.
This paper introduces a lane-recognition algorithm for detecting lane markers on digital images acquired from CCD camera and a lateral-control algorithm for keeping a reference path following.

The first-stage of lane recognition includes grey level digitization, the edge detection of white lane markers and inverse perspective remapping.

The next-stage of lane recognition is to find parameters of quadratic polynomial assumed as a road model with Maximum probability estimation. The estimation method is implemented by Metropolis Algorithm on PC-based computer system. The rate of recognition is about 33 frames/second. Also, it has been shown to recognize driving lane robustly, even in the presence of shadow, discontinuity of lane marker and reflection of road surface.
This paper introduces a lane-recognition algorithm for detecting lane markers on digital images acquired from CCD camera and a lateral-control algorithm for keeping a reference path following.

The first-stage of lane recognition includes grey level digitization, the edge detection of white lane markers and inverse perspective remapping.

The next-stage of lane recognition is to find parameters of quadratic polynomial assumed as a road model with Maximum probability estimation. The estimation method is implemented by Metropolis Algorithm on PC-based computer system. The rate of recognition is about 33 frames/second. Also, it has been shown to recognize driving lane robustly, even in the presence of shadow, discontinuity of lane marker and reflection of road surface.
Author(s)
박성태정종화
Issued Date
2002
Type
Research Laboratory
URI
https://oak.ulsan.ac.kr/handle/2021.oak/4037
http://ulsan.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002025093
Alternative Author(s)
Park, Sung-TaeJung, Jong-Hwa
Publisher
공학연구논문집
Language
kor
Rights
울산대학교 저작물은 저작권에 의해 보호받습니다.
Citation Volume
33
Citation Number
1
Citation Start Page
89
Citation End Page
100
Appears in Collections:
Research Laboratory > Engineering Research
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