The Journal of the Korea institute of electronic communication sciences (한국전자통신학회논문지)

Korea Institute of Electronic Communication Science (한국전자통신학회)
권호 표지
DOI QR코드

DOI QR Code

Performing Missions of a Minicar Using a Single Camera

단안 카메라를 이용한 소형 자동차의 임무 수행

  • Kim, Jin-Woo ;
  • Ha, Jong-Eun (Dept. of Mechanical & Automotive Engineering, Seoul National University of Science and Technology)
  • 김진우 (서울과학기술대학교 자동차공학과 대학원) ;
  • 하종은 (서울과학기술대학교 기계.자동차공학과)
  • Received : 2017.01.12
  • Accepted : 2017.02.24
  • Published : 2017.02.28
Download PDF
⟨ Previous Next ⟩

Abstract

This paper deals with performing missions through autonomous navigation using camera and other sensors. Extracting pose of the car is necessary to navigate safely within the given road. Homography is used to find it. Color image is converted into grey image and thresholding and edge is used to find control points. Two control ponits are converted into world coordinates using homography to find the angle and position of the car. Color is used to find traffic signal. It was confirmed that the given tasks performed well through experiments.

본 논문에서는 카메라 및 기타 센서 처리를 통한 소형차의 자율 주행을 통한 미션 수행에 대해 다루도록 한다. 주어진 차선내에서 안전한 운행을 위해서는 차선내에서의 차량의 자세 정보 추출이 필요하다. 이를 위해 호모그라피를 이용하도록 한다. 주어진 영상을 흑백 이미지로 변환후 이치화와 에지를 이용하여 차선에서 필요한 제어점들을 추출한다. 호모그라피를 이용하여 두 개의 제어점들을 세계 좌표계로 변환후 차량의 각도와 위치를 계산하도록 한다. 칼라 정보를 이용하여 신호등 판단을 하도록 한다. 실험을 통해 주어진 임무를 잘 수행함을 확인할 수 있었다.

Keywords

References

  1. J. Ryu, J. Sark, D. Ogay, S. Bulavintsev, H. Kim, Y. Song, M. Yoon, J. Kim, and J. Kang, "Introduction to Autonomous Vehicle PHAROS," Journal of Institute of Control, Robotics and Systems, vol. 18, no. 8, 2012, pp. 787-793. https://doi.org/10.5302/J.ICROS.2012.18.8.787
  2. J. Shin and S. Yi, "Ring Array of Structured Light Image Based Ranging and Autonomous Navigation for Mobile Robot," Journal of Institute of Control, Robotics and Systems, vol. 18, no. 6, 2012, pp. 571-578. https://doi.org/10.5302/J.ICROS.2012.18.6.571
  3. S. Noh, T. Kim, and N. Ko, "Map Building Using ICP Algorithm based a Robot Position Prediction," J. of the Korea Institute of Electronic Communication Sciences, vol. 8, no. 4, 2013, pp. 575-582. https://doi.org/10.13067/JKIECS.2013.8.4.575
  4. T. Kim, N. Ko, and S. Noh, "Particle Filter SLAM for Indoor Navigation of a Mobile Robot Using Ultrasonic Beacons," J. of the Korea Institute of Electronic Communication Sciences, vol. 7, no. 2, 2012, pp. 391-399. https://doi.org/10.13067/JKIECS.2012.7.2.391
  5. H. Kim, Y. Hawng, Y. Kim, D. Lee, and J. Lee, "A Real Time Lane Detection Algorithm Using LRF for Autonomous Navigation of a Mobile Robot," Journal of Institute of Control, Robotics and Systems, vol. 19, no. 11, 2013, pp. 1029-1035. https://doi.org/10.5302/J.ICROS.2013.12.1836
  6. S. Jeong, N. Ko, and T. Kim, "Development and Implementation of Functions for Mobile Robot Navigation," J. of the Korea Institute of Electronic Communication Sciences, vol. 8, no. 3, 2013, pp. 421-432. https://doi.org/10.13067/JKIECS.2013.8.3.421
  7. G. Song and J. Lee, "Path Planning for Autonomous Navigation of a Driverless Ground Vehicle Based on Waypoints," Journal of Institute of Control, Robotics and Systems, vol. 20, no. 2, 2014, pp. 211-217. https://doi.org/10.5302/J.ICROS.2014.13.1961
  8. J. Park and T. Park, "Autonomous Navigation System of Mobile Robot Using Laser Scanner for Corridor Environment," Journal of Institute of Control, Robotics and Systems, vol. 21, no. 11, 2015, pp. 1044-1049. https://doi.org/10.5302/J.ICROS.2015.15.0167
  9. Y. Jo, Y. Kim, and J. Kim, "Robust Speed Control of an Autonomous Vehicle Using Disturbance Observer," Journal of Institute of Control, Robotics and Systems, vol. 22, no. 5, 2016, pp. 339-345. https://doi.org/10.5302/J.ICROS.2016.16.0013
  10. R. Hartley and A. Zisserman, Multiple View Geometry, Cambridge: Cambridge University Press, 2000.