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카메라센서를 이용한 장애물 차량위치 추정의 보정

Title
카메라센서를 이용한 장애물 차량위치 추정의 보정
Other Titles
Compensation in Obstacle Position Estimation using Camera Sensor
Author
허건수
Keywords
위치 추정; 영상정보 센서; 칼만 필터; 잡음 공 분산; Position estimation; Stereo vision sensor; Kalman filter; Noise covariance
Issue Date
2014-11
Publisher
한국자동차공학회 / The Korean Society Of Automotive Engineers
Citation
한국자동차공학회 학술대회 및 전시회, 2014(11), pp.397-398(2쪽)
Abstract
This paper presents Kalman filter design and experimental validation of the obstacle position estimation with stereo vision sensor. In detecting front vehicles by using stereo vision sensor, there are limitations that as measurement distance becomes larger, variance of measurement error becomes larger as well. So, using static measurement noise covariance does not guarantee accurate position estimation in Kalman filter for total distance range. This paper proposes dynamic measurement noise covariance scheme to achieve more accurate position estimation in Kalman filter. The proposed algorithm was evaluated by MATLAB/Simulink and validated by experiment with a vehicle equipped with laser scanner and stereo vision sensor.
URI
http://www.dbpia.co.kr/Journal/ArticleDetail/NODE02514127http://hdl.handle.net/20.500.11754/56423
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
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