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公开(公告)号：KR101569919B1
公开(公告)日：2015-11-17
申请号：KR1020130130211
申请日：2013-10-30
Applicant: 인하대학교 산학협력단
IPC: G06T7/00
Abstract: 도로교통표지판을촬영하여영상신호를생성하는촬영부및 상기촬영된영상신호를분석하고, 상기도로교통표지판을칼만필터를이용하여추적하고, 차량과상기도로교통표지판의상대적인궤적을추출하여상기차량의위치를추정하는제어부를포함하고, 차량의주행중의영상을촬영하여영상신호로변환하는단계, 상기영상신호중 도로교통표지판영역을검출하기위해영상을전처리하는단계, 칼만필터를이용하여상기검출된도로교통표지판영역을추적하는단계, 상기추적된도로교통표지판영역의특징점을추출하는단계, 위성항법시스템을이용하여차량의위치를 1차적으로판단하는단계, 상기 1차적으로판단된차량의현재위치를기초로데이터베이스를검색하여후보도로교통표지판정보를추출하는단계, 상기추출된도로교통표지판영역의특징점과상기추출된후보도로교통표지판의특징점을매칭하여유사도가가장높은표지판을결정하는단계, 상기결정된도로교통표지판의이동궤적을분석하는단계및 상기분석된이동궤적을기초로차량의현재위치를판단하는단계를포함하는차량의위치추정장치및 방법.
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公开(公告)号：KR101269717B1
公开(公告)日：2013-05-30
申请号：KR1020110094759
申请日：2011-09-20
Applicant: 인하대학교 산학협력단
Abstract: 주파수점유에대한센싱없이도우선사용자와인지무선사용자가주파수를함께사용할수 있는인지무선시스템및 방법이개시된다. 인지무선통신방법은사용자단말기들의간섭신호전력측정정보를기초로사용자단말기들중에서인접기지국의신호를간섭하는간섭사용자단말기를추출하는단계; 간섭정렬방식을사용하여간섭사용자단말기의송신벡터를결정하는단계; 및상기송신벡터에따라간섭사용자단말기와통신을수행하는단계를포함할수 있다.
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Patent Agency Ranking
公开(公告)号：KR101240499B1
公开(公告)日：2013-03-11
申请号：KR1020110110958
申请日：2011-10-28
Applicant: 인하대학교 산학협력단
CPC classification number: B60W30/12 , B60W2050/0078 , B60W2050/143 , G06T7/73 , G08G1/096883
Abstract: PURPOSE: A device and a method for recognizing lanes and detecting vehicles in real time are provided to utilize an algorithm for recognizing the lanes, thereby respectively determining the regions of interest with frontal curvatures using videos and GPS information, finding the lanes inside the regions of interest, and detecting lane departures using predetermined threshold values. CONSTITUTION: A device and a method for recognizing lanes and detecting vehicles in real time includes a video preprocessing part(100), a curvature predicting part(200), a region-of-interest determining part(300), a lane recognizing part(400), a substitutable region determining part(500), and a vehicle detecting part(600). The video preprocessing part preprocesses videos from the camera of a smart phone using LBS(Location Based Service)-based weather information. The curvature predicting part computes the curvature values of the front road using the preprocessed videos by the video preprocessing part and GPS(Global Positioning System) data from the GPS receiver of the smart phone. The region-of-interest determining part determines plural regions of interest, in which the lanes exist, using the GPS data and the curvature values. The lane recognizing part finds points comprising the lane at the lower end of the region of interest, and then respectively connects the points with plural straight lines in order to detect the lane. The substitutable region determining part determines a substitutable region, in which the vehicles exist, using accumulated edges on the rears of the vehicles from the preprocessed videos. The vehicle detecting part detects the vehicles by judging the symmetric features of objects detected in the substitutable region. [Reference numerals] (100) Video preprocessing part; (200) Curvature predicting part; (300) Region-of-interest determining part; (400) Lane recognizing part; (500) Warning part; (600) Substitutable region determining part; (700) Vehicle detecting part
Abstract translation: 目的：提供一种用于识别车道并实时检测车辆的装置和方法，以利用用于识别车道的算法，从而使用视频和GPS信息分别确定具有正面曲率的感兴趣区域，从而在 利用和使用预定阈值检测车道离开。 构成：用于实时识别车道和检测车辆的装置和方法包括视频预处理部分（100），曲率预测部分（200），兴趣区域确定部分（300），车道识别部分 400），可替代区域确定部（500）和车辆检测部（600）。 视频预处理部分使用基于LBS（基于位置的服务）的天气信息来预处理来自智能电话的相机的视频。 曲率预测部分使用来自智能电话的GPS接收机的视频预处理部分的预处理视频和GPS（全球定位系统）数据来计算前道路的曲率值。 感兴趣区域确定部分使用GPS数据和曲率值确定存在通道的多个感兴趣区域。 车道识别部分在感兴趣区域的下端找到包括车道的点，然后分别连接具有多条直线的点，以便检测车道。 可替代区域确定部分使用来自预处理视频的车辆的后备物上的累积边缘来确定其中存在车辆的可替代区域。 车辆检测部通过判断在可替代区域中检测到的物体的对称特征来检测车辆。 （附图标记）（100）视频预处理部; （200）曲率预测部分; （300）利益决定部分; （400）通道识别部分; （500）警告部分; （600）可替代区域确定部分; （700）车辆检测部
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公开(公告)号：KR1020150049529A
公开(公告)日：2015-05-08
申请号：KR1020130130211
申请日：2013-10-30
Applicant: 인하대학교 산학협력단
IPC: G06T7/00
CPC classification number: G06T7/00
Abstract: 도로교통표지판을촬영하여영상신호를생성하는촬영부및 상기촬영된영상신호를분석하고, 상기도로교통표지판을칼만필터를이용하여추적하고, 차량과상기도로교통표지판의상대적인궤적을추출하여상기차량의위치를추정하는제어부를포함하고, 차량의주행중의영상을촬영하여영상신호로변환하는단계, 상기영상신호중 도로교통표지판영역을검출하기위해영상을전처리하는단계, 칼만필터를이용하여상기검출된도로교통표지판영역을추적하는단계, 상기추적된도로교통표지판영역의특징점을추출하는단계, 위성항법시스템을이용하여차량의위치를 1차적으로판단하는단계, 상기 1차적으로판단된차량의현재위치를기초로데이터베이스를검색하여후보도로교통표지판정보를추출하는단계, 상기추출된도로교통표지판영역의특징점과상기추출된후보도로교통표지판의특징점을매칭하여유사도가가장높은표지판을결정하는단계, 상기결정된도로교통표지판의이동궤적을분석하는단계및 상기분석된이동궤적을기초로차량의현재위치를판단하는단계를포함하는차량의위치추정장치및 방법.
Abstract translation: 本发明涉及一种用于估计车辆位置的装置和方法。 该装置包括：拍摄单元，被配置为通过拍摄道路交通标志来产生图像信号; 以及控制单元，被配置为分析所拍摄的图像信号，通过使用卡尔曼滤波器跟踪道路交通标志，并且通过提取车辆的相对轨迹和道路交通标志来估计车辆的位置。 该方法包括以下步骤：拍摄驾驶车辆的图像并将图像转换为图像信号; 对图像进行预处理，以便检测图像信号的道路交通标志域; 使用卡尔曼滤波器跟踪检测到的道路交通标志域; 提取跟踪的交通标志域的特征点; 首先通过使用卫星导航系统来确定车辆的位置; 通过基于车辆的首先确定的当前位置搜索数据库来提取候选道路交通标志信息; 通过匹配所提取的道路交通标志域的特征点和所提取的候选道路交通标志的特征点来确定具有最相似性的符号; 分析确定的道路交通标志的移动轨迹; 以及基于所分析的移动轨迹来确定所述车辆的当前位置。
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公开(公告)号：KR1020130031069A
公开(公告)日：2013-03-28
申请号：KR1020110094759
申请日：2011-09-20
Applicant: 인하대학교 산학협력단
CPC classification number: H04L27/0006 , H04W48/16 , H04W88/08
Abstract: PURPOSE: A recognition wireless system using selective part space interference arrangement and a method thereof are provided to extract a terminal which interferes in signals of other base stations and to control transmission power of the terminal without interference. CONSTITUTION: An information receiving unit(220) receives interference signal power measurement information of a user terminal. A signal to interference noise ratio determination unit(230) determines a signal to interference noise ratio of a base station based on the interference signal power measurement information. An interference user terminal extraction unit(240) extracts an interference user terminal which interferes in a signal of an adjacent base station among user terminals included in a cell of the base station. A transmission vector determination unit(250) determines a transmission vector of the interference user terminal by using an interference arrangement method. A communication unit(260) communicates with the interference user terminal corresponding to the transmission vector. [Reference numerals] (200) Base station; (210) Synchronization unit; (220) Information receiving unit; (230) Signal to interference noise ratio determination unit; (240) Interference user terminal extraction unit; (250) Transmission vector determination unit; (260) Communication unit
Abstract translation: 目的：提供一种使用选择性部分空间干扰布置的识别无线系统及其方法，以提取干扰其他基站的信号的终端，并且不受干扰地控制终端的发射功率。 构成：信息接收单元（220）接收用户终端的干扰信号功率测量信息。 信号与干扰噪声比确定单元（230）基于干扰信号功率测量信息确定基站的信噪比。 干扰用户终端提取单元（240）提取在基站的小区中包括的用户终端中干扰相邻基站的信号的干扰用户终端。 发送矢量确定单元（250）通过使用干扰配置方法来确定干扰用户终端的发送矢量。 通信单元（260）与对应于发送向量的干扰用户终端进行通信。 （200）基站; （210）同步单元; （220）信息接收单元; （230）信号与干扰噪声比确定单元; （240）干扰用户终端提取单元; （250）传输矢量确定单元; （260）通讯单元
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公开(公告)号：KR101486308B1
公开(公告)日：2015-02-04
申请号：KR1020130098779
申请日：2013-08-20
Applicant: 인하대학교 산학협력단
Abstract: 이동로봇의 소정의 위치에 부착되어 영상을 촬영하는 카메라부, 레이저 스캐너를 통해 레이저 신호를 촬영하는 레이저 스캐너부, 상기 촬영된 영상을 필터링하고, 상기 촬영된 레이저 신호를 연산하고, 상기 필터링된 영상과 상기 연산된 레이저 신호를 기초로 이동 객체의 추적을 진행하는 제어신호를 생성하는 제어부를 포함하여 조명 변화나 물체의 형태 변화에 대해 판단이 용이하고 좁은 화각으로 기존의 문제점을 극복한 것을 특징으로 하는 이동로봇의 이동 객체 추종 방법 및 장치이다.
Abstract translation: 本发明涉及一种用于跟踪移动机器人的移动物体的方法和装置。 用于控制移动机器人的装置包括：相机单元，附接到移动机器人上的固定位置以便拍摄图像; 激光扫描仪单元，其通过激光扫描仪拍摄激光信号; 以及控制单元，其对所拍摄的图像进行滤波，计算拍摄的激光信号，并且基于滤波图像和所计算的激光信号生成控制信号，以跟踪移动物体。 因此，该装置可以容易地确定照明的变化或移动物体的形状，并且可以克服由于窄视角引起的现有问题。
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公开(公告)号：KR101456172B1
公开(公告)日：2014-10-31
申请号：KR1020130089728
申请日：2013-07-29
Applicant: 인하대학교 산학협력단
CPC classification number: G05D1/0246
Abstract: The present invention may include a camera unit receiving an image signal; a feature point extraction unit determining and selecting feature points of the image signal; a storage unit in which a position of an actual landmark and an image template information which can be obtained on a path in which a robot would be moving are stored; a feature point selection unit improving accuracy of the feature point candidates; a feature point matching unit comparing information in the feature point selection unit with information in the storage unit to match the corresponding feature points; and a position determination unit finding a vector from a central coordinate of the landmark determined by matched optimal feature points to the camera, and determining a present position of a mobile robot.
Abstract translation: 本发明可以包括接收图像信号的相机单元; 特征点提取单元确定和选择图像信号的特征点; 存储单元，其中存储可在机器人移动的路径上获得的实际地标和图像模板信息的位置; 特征点选择单元，提高特征点候选的精度; 将特征点选择单元中的信息与存储单元中的信息进行比较以匹配相应的特征点的特征点匹配单元; 以及位置确定单元，从由匹配的最佳特征点确定的地标的中心坐标找到向摄像机的矢量，以及确定移动机器人的当前位置。
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