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ÇѱÛÁ¦¸ñ(Korean Title) |
Â÷·®ÀÇ »ç°¢ Áö´ë Á¦°Å¸¦ À§ÇÑ Ãø/ÈĹæ Ä«¸Þ¶ó ¿µ»ó Á¤ÇÕ ½Ã½ºÅÛ |
¿µ¹®Á¦¸ñ(English Title) |
A Side-and Rear-View Image Registration System for Eliminating Blind Spots |
ÀúÀÚ(Author) |
¹Ú¹Î¿ì
Àå°æÈ£
Á¤¼ø±â
À±ÆÈÁÖ
Min Woo Park
Kyung Ho Jang
Soon Ki Jung
Pal Joo Yoon
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¿ø¹®¼ö·Ïó(Citation) |
VOL 36 NO. 08 PP. 0653 ~ 0663 (2009. 08) |
Çѱ۳»¿ë (Korean Abstract) |
º» ³í¹®¿¡¼´Â ¼¼ ´ëÀÇ Ä«¸Þ¶ó¸¦ ÀÌ¿ëÇÏ¿© »ç°¢Áö´ë¸¦ È¿°úÀûÀ¸·Î Á¦°ÅÇϱâ À§ÇÑ Æijë¶ó¹Í ºñÀü ½Ã½ºÅÛ(panoramic vision system)À» Á¦¾ÈÇÑ´Ù. Â÷·®ÀÇ ÈĹ濡´Â ±¤°¢ Ä«¸Þ¶ó¸¦ »ç¿ëÇÏ¿© ÈÄ¹æ °Å¿ï(rear-view mirror)·ÎºÎÅÍ º¸ÀÌÁö ¾Ê´Â »ç°¢Áö´ë¸¦ Á¦°ÅÇϸç, ³ª¸ÓÁö µÎ ´ëÀÇ Ä«¸Þ¶ó´Â Ãø¸é °Å¿ï(side-view mirror)ÀÇ ¾Æ·¡¿¡ ¼³Ä¡ÇÏ¿© Ãø¸é °Å¿ï·Î º¸Áö ¸øÇÏ´Â »ç°¢Áö´ë¸¦ Á¦°ÅÇÑ´Ù. Á» ´õ È¿°úÀûÀÎ »ç°¢Áö´ë Á¦°Å¸¦ À§Çؼ ¼¼ ´ëÀÇ Ä«¸Þ¶ó¿¡¼ ¾ò¾îÁö´Â ¿µ»óÀ» Á¤ÇÕÇÏ´Â ¹æ¹ýÀ» Á¦°øÇÑ´Ù. ¸ÕÀú, ÈĹæ Ä«¸Þ¶ó¿¡¼ ¾òÀº ¿µ»óÀ» º¸Á¤ÇÏ°í, º¸Á¤µÈ ¿µ»ó¿¡¼ focus-of-contraction(FOC)À» ±¸ÇÑ´Ù. ±× µÚ¿¡ Ãø¹æ Ä«¸Þ¶óÀÇ ¿µ»ó°ú ÈĹæ Ä«¸Þ¶óÀÇ ¿µ»ó »çÀÌÀÇ È£¸ð±×·¡ÇÇ(homography)¸¦ ±¸ÇÑ´Ù. ±× ´ÙÀ½À¸·Î ¿µ»óÀ» Â÷µµ¿Í ¹è°æ ¿µ¿ªÀ¸·Î ºÐ¸®ÇÏ°í, È£¸ð±×·¡ÇǸ¦ »ç¿ëÇÏ¿© ºÐ¸®ÇÑ Â÷µµ¸¦ Á¤ÇÕÇÏ°í, °¡»óÀÇ Æò¸é¿¡ ¹è°æÀ» Åõ¿µÇÏ¿© ÃÖÁ¾Á¤ÇÕÀ» ¿Ï¼ºÇÑ´Ù. ¸¶Áö¸·À¸·Î Á¤ÇÕµÈ ¿µ»óÀ» º¸´Ù È¿°úÀûÀ¸·Î º¸¿©ÁÖ±â À§ÇÑ ½Ç¸°´õ Æijë¶ó¸¶ ¿µ»ó, °¡»óÀÇ Top-view ½Ã½ºÅÛ, ±×¸®°í Â÷·®ÀÇ ´Ù¾çÇÑ Á¤º¸¿Í ÇÔ²² »ç°¢Áö´ë ¿µ»óÀ» º¸¿©ÁÖ´Â ÅëÇÕ Á¤º¸ °¡½ÃÈ ¿µ»óÀ» »ý¼ºÇÏ¿© Á¦°øÇÑ´Ù. |
¿µ¹®³»¿ë (English Abstract) |
In this paper, we propose a blind spots elimination system using three cameras. A wide-angle camera is attached on trunk for eliminating blind spots of a rear-view mirror and two cameras are attached on each side-view mirror for eliminating blind spots of vehicle's sides. In order to eliminate blind spots efficiently, we suggest a method to build a panoramic mosaic view with two side images and one wide-angle rear image. First, we obtain an undistorted image from a wide-angle camera of rear-view and calculate the focus-of-contraction (FOC) in undistorted images of rear-view while the car is moving straight forward. Second, we compute a homography among side-view images and an undistorted image of rear-view in flat road scenes. Next, we perform an image registration process after road and background region segmentation. Finally, we generate various views such as a cylinder panorama view, a top view and an information panoramic mosaic view. |
Å°¿öµå(Keyword) |
¿µ»ó Á¤ÇÕ
»ç°¢Áö´ë
Æijë¶ó¹Í ºñÁ¯ ½Ã½ºÅÛ
Image Stitching
Blind Spot
Panoramic Vision System
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