로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제14권3호
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  • Pages.170-178
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  • 2019
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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카메라와 라이다 센서 융합에 기반한 개선된 주차 공간 검출 시스템

Parking Space Detection based on Camera and LIDAR Sensor Fusion

  • Park, Kyujin (Bachelor School of Mechanical Engineering, Handong University) ;
  • Im, Gyubeom (Graduate School of Convergence Science and Technology, Seoul National University) ;
  • Kim, Minsung (Graduate School of Convergence Science and Technology, Seoul National University) ;
  • Park, Jaeheung (Graduate School of Convergence Science and Technology, Seoul National University)
  • 투고 : 2019.04.23
  • 심사 : 2019.07.09
  • 발행 : 2019.08.30
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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.

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참고문헌

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