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公开(公告)号：KR1020090072520A
公开(公告)日：2009-07-02
申请号：KR1020070140656
申请日：2007-12-28
Applicant: 재단법인대구경북과학기술원
CPC classification number: G01C3/02 , G01B11/00 , G01C15/00 , G01S5/0294
Abstract: A distance estimation device and an estimation method are provided to accurately detect the location of an object in order to estimate the distance without using additional sense. A distance estimation method using stereo vision comprises: a step of estimating the distance of an object using the variance from a photographed image; a step of filtering a estimated distance value in order to calculate a first probability density(S908); a step of calculating the height of the object using the distance value in which the first probability density is maximum, if the distance value and a covariance value is smaller than a critical value(S914); a step of estimating the distance of the object using the height of the object; a step of filtering the estimated distance value in order to calculate a second probability density(S918); and a step of regarding the distance in which the probability density is maximum based on the first probability density and the second probability density as the distance of the object(S920).
Abstract translation: 提供了距离估计装置和估计方法来精确地检测物体的位置，以便在不使用附加感觉的情况下估计距离。 使用立体视觉的距离估计方法包括：使用来自拍摄图像的方差来估计对象的距离的步骤; 过滤估计距离值以便计算第一概率密度的步骤（S908）; 如果距离值和协方差值小于临界值，则使用第一概率密度最大的距离值来计算对象的高度的步骤（S914）; 使用对象的高度估计对象的距离的步骤; 过滤所估计的距离值以便计算第二概率密度的步骤（S918）; 以及基于第一概率密度和第二概率密度作为对象的距离来将概率密度最大的距离与步骤（S920）进行比较。
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公开(公告)号：KR102209505B1
公开(公告)日：2021-02-01
申请号：KR1020180160613
申请日：2018-12-13
Applicant: 재단법인대구경북과학기술원
Inventor： 이충희
Abstract: 인공신경망학습방법및 장치가개시된다. 일실시예에따른인공신경망학습방법은입력데이터들의종류에따른빈도수를획득하는단계, 빈도수에기초하여입력데이터들의종류에따른평판도를계산하는단계, 평판도에기초하여, 입력데이터들을학습데이터와가중치데이터로분류하는단계, 및학습데이터를이용하여인공신경망을학습하는단계를포함한다.
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公开(公告)号：KR101637187B1
公开(公告)日：2016-07-07
申请号：KR1020140170535
申请日：2014-12-02
Applicant: 재단법인대구경북과학기술원
Abstract: 이미지에기반하여랜덤넘버를생성하는장치및 그방법이개시된다. 본발명의일 면에따른이미지에기반한랜덤넘버생성장치는입력컬러영상을생성하고자하는랜덤넘버의개수(n)만큼분할하여 n개의서브영상을생성하는영상분할부와; 상기 n개의서브영상각각에적용될영상처리알고리즘을랜덤하게선택하는영상처리알고리즘선택부와; 상기 n개의서브영상각각에선택된영상처리알고리즘을적용하여그레이스케일영상(gray-scale image)를획득하는영상처리부와; 및그레이스케일로변환된 n개의서브영상각각의화소값을이용하여 n개의랜덤넘버를생성하는랜덤넘버연산부를포함한다.
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公开(公告)号：KR1020150019083A
公开(公告)日：2015-02-25
申请号：KR1020130095469
申请日：2013-08-12
Applicant: 재단법인대구경북과학기술원
CPC classification number: G08G1/16
Abstract: 본발명은카메라를통해획득한영상에기초하여차선정보를제공하는시스템이야간이나악천후시영상획득의어려움으로정확한차선정보를제공하지못하는문제점을해소하기위한것으로서, 차량의위치를정밀하게측정하고전자지도에포함된차선정보를이용하여상기차량이주행중인도로에대한가상차선을생성, 표시하는가상차선생성시스템및 그방법에관한것이다. 본발명의일실시예에따르면, 교차로진입시주행중인차선과이동방향에위치한차선을연결하는유도선을포함한가상차선을제공하며, 가상차선과함께차선별교통상황정보를표시할수도있다.
Abstract translation: 本发明的目的是为了解决由于在夜间或恶劣天气下难以获取图像，基于通过照相机获取的图像来提供车道信息的系统不能提供准确的车道信息的问题。 本发明涉及一种用于生成虚拟通道的系统和方法，该虚拟通道可以通过精确地测量车辆的位置并且使用包括在电子地图中的车道信息来生成和显示车辆所驾驶的道路的虚拟车道。 根据本发明的实施例，可以在进入十字路口时提供包括用于连接行驶车道的引导线和位于移动方向上的车道的虚拟车道，并且可以与虚拟车道一起显示每车道的交通信息 。
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公开(公告)号：KR1020150018223A
公开(公告)日：2015-02-23
申请号：KR1020130094864
申请日：2013-08-09
Applicant: 재단법인대구경북과학기술원
CPC classification number: G08G1/09
Abstract: 본발명은실시간교통정보를이용하여제한속도를표시하는장치및 방법에관한것이다. 본발명에따른실시간교통정보를이용하는가변제한속도표시장치는실시간혼잡도정보및 실시간사고정보중 적어도어느하나를포함하는실시간교통정보를획득하는교통정보획득부와, 실시간교통정보에기초하여가변제한속도를표시하는제한속도표시부및 교통정보획득부가획득한실시간교통정보에기초하여제한속도표시부가표시하는제한속도를가변시키는제어부를포함한다. 또한, 본발명에따른실시간교통정보를이용하는가변제한속도표시방법은실시간교통정보를획득하는단계와, 획득된실시간교통정보를분석하여교통정체발생여부를판단하는단계및 교통정체가발생한경우, 제한속도를변경하는단계를포함한다.
Abstract translation: 本发明涉及使用实时交通信息显示可变速度限制的装置和方法。 用于使用实时交通信息显示可变速度限制的装置包括：交通信息获取单元，用于获取包括实时拥堵信息和实时事故信息中的至少一个的实时交通信息; 速度限制显示单元，用于基于实时交通信息显示可变速度限制; 以及控制单元，其基于由交通信息获取单元获取的实时交通信息来改变由限速显示单元显示的速度限制。 此外，使用实时交通信息显示变速限制的方法包括以下步骤：获取实时交通信息; 通过分析所获取的实时交通信息来确定是否发生交通拥堵; 并在发生交通拥堵的情况下改变速度限制。
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Patent Agency Ranking
公开(公告)号：KR1020140062334A
公开(公告)日：2014-05-23
申请号：KR1020120128949
申请日：2012-11-14
Applicant: 재단법인대구경북과학기술원
CPC classification number: G06T7/11 , G06T7/13 , G06T7/155 , H04N13/106
Abstract: An apparatus and a method for detecting obstacles are disclosed. The apparatus for detecting obstacles according to an embodiment of the present invention comprises: a first detection unit for detecting an area of interest which has the possibility of including an obstacle from a disparity map of a stereo image; a second detection unit for detecting a horizontal position of the obstacle corresponding to an area expected to be a shadow in the area of interest using a brightness-based histogram of the area of interest; and a third detection unit for detecting an obstacle area including the obstacle using vertical edge information between the horizontal positions.
Abstract translation: 公开了一种用于检测障碍物的装置和方法。 根据本发明的实施例的用于检测障碍物的装置包括：第一检测单元，用于从立体图像的视差图检测出具有包括障碍物的可能性的感兴趣区域; 第二检测单元，用于使用感兴趣区域的基于亮度的直方图来检测对应于感兴趣区域中预期为阴影的区域的障碍物的水平位置; 以及第三检测单元，用于使用所述水平位置之间的垂直边缘信息来检测包括所述障碍物的障碍物区域。
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公开(公告)号：KR101390107B1
公开(公告)日：2014-04-29
申请号：KR1020120121802
申请日：2012-10-31
Applicant: 재단법인대구경북과학기술원
CPC classification number: H03D7/16 , H03D2200/0066
Abstract: Disclosed are a signal process apparatus and a method for supporting high-speed acquisition time. The signal process apparatus for supporting high-speed acquisition time includes: a divider for receiving an intermediate frequency signal and dividing the received intermediate frequency signal into n (N is a natural number); n pieces of mixers for mixing n pieces of divided intermediate frequency signal each by using a pulsed input signal; and a processor for digital-signal-processing n pieces of mixing signals outputted from n pieces of mixers. [Reference numerals] (201) Divider; (209) Processor; (AA,BB) Amplification unit; (CC,DD) Mixer unit; (EE,FF) Filter unit
Abstract translation: 公开了一种用于支持高速采集时间的信号处理装置和方法。 用于支持高速采集时间的信号处理装置包括：用于接收中频信号并将接收到的中频信号分成n（N是自然数）的分频器; n个混合器，用于通过使用脉冲输入信号混合n个分频中频信号; 以及用于对从n个混合器输出的n个混合信号进行数字信号处理的处理器。 （附图标记）（201）分隔线; （209）处理器; （AA，BB）放大单元; （CC，DD）搅拌机; （EE，FF）过滤器
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公开(公告)号：KR101364046B1
公开(公告)日：2014-02-19
申请号：KR1020120124275
申请日：2012-11-05
Applicant: 재단법인대구경북과학기술원
IPC: G06T7/20
CPC classification number: G06K9/3233 , G06K9/6215 , G06T7/20
Abstract: Disclosed is a method for an object tracking having a strong tracking performance for movements such as a rotational change of the object in various external environments and a size change. The method for an object tracking according to an aspect of the present invention comprises the steps of: extracting a feature point in a region of interest (ROI) of a previous frame; setting at least one candidate region of a current frame which corresponds to the ROI using the feature point matching; and estimating the candidate region which has the greatest similarity with an appearance model of the ROI among the appearance models of the candidate regions as the ROI of the current frame. [Reference numerals] (101) Candidate region setting unit; (103) Appearance model transformation unit; (105) ROI estimating unit; (AA,CC) Previous frame; (BB) Current frame
Abstract translation: 公开了一种用于物体跟踪的方法，其具有针对诸如各种外部环境中的物体的旋转变化和尺寸变化的移动的强跟踪性能。 根据本发明的一个方面的用于对象跟踪的方法包括以下步骤：提取先前帧的感兴趣区域（ROI）中的特征点; 使用所述特征点匹配来设置与所述ROI对应的当前帧的至少一个候选区域; 并且将候选区域的外观模型中与ROI的外观模型具有最大相似度的候选区域作为当前帧的ROI进行估计。 （附图标记）（101）候选区域设定单元; （103）外观模型转换单位; （105）ROI估计单元; （AA，CC）上一帧; （BB）当前帧
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公开(公告)号：KR101355976B1
公开(公告)日：2014-02-03
申请号：KR1020120128448
申请日：2012-11-13
Applicant: 재단법인대구경북과학기술원
CPC classification number: G06T7/33 , G06K9/3233 , G06T7/246
Abstract: An object tracking method which uses a matching of space time feature points and an apparatus thereof are disclosed. The object tracking apparatus using the matching of the time space feature points according to an embodiment of the present invention includes: a candidate area setting unit which sets an area (a first searching area) which detects an object which is a tracking object in any one image (a first image) between a left image and a right image which are inputted by a stereo camera; a time image feature point extracting unit which extracts feature points within a region-of-interest (POI) of a previous frame and the first searching area; an ROI estimating unit which estimates an ROI in the first image through a matching of the feature points between time images; a space image feature point extracting unit which sets a second searching area in the other image (a second image) between the left and right images based on the ROI of the first image and extracts feature points in the second searching area; and a space image feature point matching unit which extracts a feature point which is matched with the feature points which are extracted from the second searching area among the feature points extracted in the ROI of the first image through a feature point matching between space images. [Reference numerals] (10) Preprocessing unit; (20) Candidate area setting unit; (30, 50) Time image feature point extracting unit; (40) ROI estimating unit; (60) Space image feature point matching unit; (70) Distance estimating unit; (AA) Left and right images
Abstract translation: 公开了一种使用时空特征点匹配的物体跟踪方法及其装置。 根据本发明实施例的使用时间空间特征点的匹配的对象跟踪装置包括：候选区域设置单元，其设置检测任何一个跟踪对象的对象的区域（第一搜索区域） 由立体摄像机输入的左图像和右图像之间的图像（第一图像）; 时间图像特征点提取单元，其提取先前帧的兴趣区域（POI）和第一搜索区域中的特征点; ROI估计单元，其通过时间图像之间的特征点的匹配来估计第一图像中的ROI; 空间图像特征点提取单元，其基于所述第一图像的ROI设置所述左图像和右图像之间的另一图像（第二图像）中的第二搜索区域，并提取所述第二搜索区域中的特征点; 以及空间图像特征点匹配单元，其通过空间图像之间的特征点提取与在第一图像的ROI中提取的特征点中从第二搜索区域提取的特征点匹配的特征点。 （附图标记）（10）预处理单元; （20）候选区域设定单位; （30,50）时间图像特征点提取单元; （40）ROI估计单元; （60）空间图像特征点匹配单元; （70）距离估计单位; （AA）左右图像
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公开(公告)号：KR101272572B1
公开(公告)日：2013-06-10
申请号：KR1020110117820
申请日：2011-11-11
Applicant: 재단법인대구경북과학기술원
Abstract: 3차원 영상 기반의 특징을 이용한 거리 추정 방법은,
입력 영상을 수신한 영상센서로부터 2차원 영상 정보와 객체까지의 거리를 색깔이나 명암으로 나타내는 3차원 깊이 정보를 수신하는 단계; 2차원 영상 정보를 가우시안 함수의 표준 편차인 가우시안 파라미터를 증가시키면서 2차원 영상 정보를 다중 스케일로 표현하는 스케일 스페이스 층을 복수개 형성한 스케일 스페이스를 구성하는 단계; 입력 영상의 3차원 깊이 정보와 상기 가우시안 파라미터를 이용하여 N 번째 층에 해당하는 각각의 스케일 스페이스 층의 3차원 깊이 정보를 추정하는 단계; N 번째 층에 해당하는 각각의 스케일 스페이스 층의 특징점을 추출하는 단계; 각각의 스케일 스페이스 층에서 추출된 특징점들에 대하여 각각의 스케일 스페이스 층에 해당하는 3차원 깊이 정보를 할당하는 단계; 각각의 스케일 스페이스 층에서 2차원 영상 정보에서 추출된 특징점들과 매칭되는 스케일 스페이스 층을 검색하는 단계; 및 검색된 스케일 스페이스 층의 깊이 정보를 이용하여 촬영 지점으로부터 객체의 거리를 추정하는 단계를 포함한다.
본 발명에 따르면, 3차원 영상을 이용하여 객체의 특징을 추추출하여 객체 인식과 거리를 추정하는 효과가 있다.
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