Çѱ¹Á¤º¸Åë½ÅÇÐȸ ³í¹®Áö (Journal of the Korea Institute of Information and Communication Engineering)
Current Result Document : 2 / 2
ÇѱÛÁ¦¸ñ(Korean Title) |
ÃʸñÀ» Æ÷ÇÔÇÑ µµ·Î ȯ°æ¿¡¼ ÁÖÇà °¡´É ¿µ¿ª °ËÃâÀ» À§ÇÑ ÇÊÅ͸µ ±â¹Ý ¹æ¹ý ¹× Çϵå¿þ¾î ±¸Á¶ |
¿µ¹®Á¦¸ñ(English Title) |
Filtering-Based Method and Hardware Architecture for Drivable Area Detection in Road Environment Including Vegetation |
ÀúÀÚ(Author) |
±è¿µÇö
ÇÏÁö¼®
ÃÖöȣ
¹®º´ÀÎ
Younghyeon Kim
Jiseok Ha
Cheol-Ho Choi
Byungin Moon
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¿ø¹®¼ö·Ïó(Citation) |
VOL 11 NO. 01 PP. 0051 ~ 0058 (2022. 01) |
Çѱ۳»¿ë (Korean Abstract) |
÷´Ü ¿îÀüÀÚ º¸Á¶ ½Ã½ºÅÛ(advanced driver assistance system)ÀÇ ÁÖ¿ä ±â´É Áß ÇϳªÀÎ ÁÖÇà °¡´É ¿µ¿ª °ËÃâÀº Â÷·®ÀÌ ¾ÈÀüÇÏ°Ô ÁÖÇàÇÒ ¼ö ÀÖ´Â ¿µ¿ªÀ» °ËÃâÇÏ´Â °ÍÀ» ÀǹÌÇÑ´Ù. ÁÖÇà °¡´É ¿µ¿ª °ËÃâÀº ¿îÀüÀÚÀÇ ¾ÈÀü°ú ¹ÐÁ¢ÇÑ ¿¬°üÀÌ ÀÖÀ¸¸ç ½Ç½Ã°£ µ¿ÀÛ°ú ³ôÀº Á¤È®µµ ¼º´ÉÀ» ¿ä±¸ÇÑ´Ù. ÀÌ·¯ÇÑ Á¶°ÇµéÀ» ÃæÁ·Çϱâ À§ÇØ, ¿µ»óÀÇ °¢ Çà¿¡¼ µµ·Î ½ÃÂ÷ °ªÀ» °è»êÇÏ¿© ÁÖÇà °¡´É ¿µ¿ªÀ» °ËÃâÇÏ´Â V-½ÃÂ÷ ±â¹Ý ¹æ¹ýÀÌ Æø³Ð°Ô »ç¿ëµÈ´Ù. ±×·¯³ª V-½ÃÂ÷ ±â¹Ý ¹æ¹ýÀº ½ÃÂ÷ °ªÀÌ Á¤È®ÇÏÁö ¾Ê°Å³ª °´Ã¼ÀÇ ½ÃÂ÷ °ªÀÌ µµ·ÎÀÇ ½ÃÂ÷ °ª°ú µ¿ÀÏÇÑ °æ¿ì, µµ·Î°¡ ¾Æ´Ñ ¿µ¿ªÀ» µµ·Î·Î ¿À°ËÃâÇÒ ¼ö ÀÖ´Ù. ¶ÇÇÑ, °í¼Óµµ·Î ¹× ½Ã°ñ±æ°ú °°ÀÌ, ÃʸñÀ» Æ÷ÇÔÇÑ µµ·Î ȯ°æ¿¡¼ ÃʸñÀÇ ½ÃÂ÷´Â µµ·ÎÀÇ ½ÃÂ÷ Ư¼º°ú ¸Å¿ì À¯»çÇϱ⠶§¹®¿¡ Ãʸñ ¿µ¿ªÀÌ ÁÖÇà °¡´É ¿µ¿ªÀ¸·Î ¿À°ËÃâµÉ ¼ö ÀÖ´Ù. ÀÌ¿¡ º» ³í¹®¿¡¼´Â V-½ÃÂ÷ÀÇ Æ¯¼ºÀ¸·Î ÀÎÇÑ ¿À°ËÃâ Ƚ¼ö¸¦ °¨¼Ò½ÃÅ´À¸·Î½á Ãʸñ ¿µ¿ªÀ» Æ÷ÇÔÇÑ µµ·Î ȯ°æ¿¡¼ ³ôÀº Á¤È®µµ¸¦ °®´Â ÁÖÇà °¡´É ¿µ¿ª °ËÃâ ¹æ¹ý ¹× Çϵå¿þ¾î ±¸Á¶¸¦ Á¦¾ÈÇÑ´Ù. Á¦¾ÈÇÏ´Â ¹æ¹ýÀÇ ¼º´ÉÀ» Æò°¡Çϱâ À§ÇØ KITTI road datasetÀÇ 289Àå ¿µ»óÀ» »ç¿ëÇÏ¿´À» ¶§, Á¦¾ÈÇÏ´Â ¹æ¹ýÀº 90.12%ÀÇ Á¤È®µµ¿Í 97.96%ÀÇ ÀçÇöÀ²À» º¸ÀδÙ. ¶ÇÇÑ, Á¦¾ÈÇÏ´Â Çϵå¿þ¾î ±¸Á¶¸¦ FPGA Ç÷§Æû¿¡ ±¸ÇöÇÏ¿´À» ¶§, Á¦¾ÈÇÏ´Â Çϵå¿þ¾î ±¸Á¶´Â 8925°³ÀÇ slice registers¿Í 7066°³ÀÇ slice LUTs¸¦ »ç¿ëÇÑ´Ù. |
¿µ¹®³»¿ë (English Abstract) |
Drivable area detection, one of the main functions of advanced driver assistance systems, means detecting an area where a vehicle can safely drive. The drivable area detection is closely related to the safety of the driver and it requires high accuracy with real-time operation. To satisfy these conditions, V-disparity-based method is widely used to detect a drivable area by calculating the road disparity value in each row of an image. However, the V-disparity-based method can falsely detect a non-road area as a road when the disparity value is not accurate or the disparity value of the object is equal to the disparity value of the road. In a road environment including vegetation, such as a highway and a country road, the vegetation area may be falsely detected as the drivable area because the disparity characteristics of the vegetation are similar to those of the road. Therefore, this paper proposes a drivable area detection method and hardware architecture with a high accuracy in road environments including vegetation areas by reducing the number of false detections caused by V-disparity characteristic. When 289 images provided by KITTI road dataset are used to evaluate the road detection performance of the proposed method, it shows an accuracy of 90.12% and a recall of 97.96%. In addition, when the proposed hardware architecture is implemented on the FPGA platform, it uses 8925 slice registers and 7066 slice LUTs. |
Å°¿öµå(Keyword) |
µµ·Î °ËÃâ
Ãʸñ Á¦°Å
½ÃÂ÷
½ºÅ×·¹¿À ºñÀü
Road Detection
Vegetation Removal
Disparity
Stereo Vision
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