서지주요정보
스캔라인 연속 영상을 이용한 실시간 장애물 인식에 관한 연구 = A study on the real time obstacle recognition by scanned line image
서명 / 저자 스캔라인 연속 영상을 이용한 실시간 장애물 인식에 관한 연구 = A study on the real time obstacle recognition by scanned line image / 정성엽.
저자명 정성엽 ; Cheung, Sheung-Youb
발행사항 [대전 : 한국과학기술원, 1996].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8006121

소장위치/청구기호

학술문화관(문화관) 보존서고

MME 96070

휴대폰 전송

도서상태

이용가능

대출가능

반납예정일

초록정보

This thesis is devoted to detection of 3-dimensional point obstacles on the plane by using accumulated scan line images. Real time image processing is enabled by accumulating only one scan line from each image frame. And the change of motion of the feature in image is small because of the short time between image frames, so it doesn't take much time to track features. To obtain recursive optimal obstacles' position and robot motion along to the motion of camera, Kalman filter algorithm is applied. From Kalman filter in case of the fixed environment, 3-dimensional obstacles point map can be obtained. Position and motion of moving obstacles can also be obtained by pre-segmentation. The last, to solve the stereo ambiguity problem from multiple matches, the camera motion is actively used to discard mis-matched features. To get relative obstacles' distance from camera, parallel stereo camera setup is used. For experiments test vehicle is made. It is made up of 486-PC and DSP image processing board and it is driven by two step motors. Scan line images are stored on hard disk and transferred to the workstation, so stereo matching and Kalman filter algorithm are performed in the workstation. The experiment to find environment map is performed on-line.

서지기타정보

서지기타정보
청구기호 {MME 96070
형태사항 v, 55 p. : 삽도 ; 26 cm
언어 한국어
일반주기 부록 : Camera calibration
저자명의 영문표기 : Sheung-Youb Cheung
지도교수의 한글표기 : 오준호
지도교수의 영문표기 : Jun-Ho Oh
학위논문 학위논문(석사) - 한국과학기술원 : 기계공학과,
서지주기 참고문헌 : p. 28-30
주제 이동로보트
스캔 라인
컴퓨터 비젼
스테레오 매칭
다중 매칭
Mobile Robot
Scanned Line
Vision
Stereo Matching
Multiple Matching
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