로봇학회논문지 제14권 제3호(통권 제53호) (p.170-178)

카메라와 라이다 센서 융합에 기반한 개선된 주차 공간 검출 시스템

Parking Space Detection based on Camera and LIDAR Sensor Fusion
키워드 :
Around View Monitor (AVM),Parking Assist System,Parking Space Detection,Sensor Fusion

목차

Abstract
1. 서 론
2. 기존 연구
   2.1 주차선 검출
   2.2 해리스 코너 검출을 이용한 주차 입구 검출
   2.3 초음파 센서를 이용한 주차 공간 검출
3. 본 론
   3.1 하드웨어 시스템
   3.2 소프트웨어 시스템
   3.3. 개선된 주차 공간 탐색 전략
4. 실험 결과
   4.1 실험 환경
   4.2 장애물 센서 융합 성능 비교
   4.3 경계 검출 필터 성능 비교
   4.4 개선된 라돈 변환 성능 비교
   4.5 결과 비교
5. 결 론
References

초록

This paper proposes a parking space detection method for autonomous parking by using the Around View Monitor (AVM) image and Light Detection and Ranging (LIDAR) sensor fusion. This method consists of removing obstacles except for the parking line, detecting the parking line, and template matching method to detect the parking space location information in the parking lot. In order to remove the obstacles, we correct and converge LIDAR information considering the distortion phenomenon in AVM image. Based on the assumption that the obstacles are removed, the line filter that reflects the thickness of the parking line and the improved radon transformation are applied to detect the parking line clearly. The parking space location information is detected by applying template matching with the modified parking space template and the detected parking lines are used to return location information of parking space. Finally, we propose a novel parking space detection system that returns relative distance and relative angle from the current vehicle to the parking space.