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公开(公告)号：KR101381737B1
公开(公告)日：2014-04-07
申请号：KR1020120097717
申请日：2012-09-04
Applicant: 전자부품연구원
Abstract: 다양한 검증 기법이 복합된 전방 차량 영역 검증방법 및 장치가 제공된다. 본 발명의 실시예에 따른 차량 영역 검증 방법은, 현재 영상에서 차량 후보 영역들을 추출하고, 추출된 차량 후보 영역들의 형태를 분석하여 실제 차량이 존재하는 차량 영역인지 검증하는 한다. 이에 의해, 차량 미검출 또는 오검출을 줄일 수 있게 된다.
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公开(公告)号：KR1020140030933A
公开(公告)日：2014-03-12
申请号：KR1020120097717
申请日：2012-09-04
Applicant: 전자부품연구원
CPC classification number: B60W30/08 , B60W2050/021 , B60W2420/42 , G06T7/11
Abstract: Provided are a method and an apparatus for verifying a front vehicle region by combining various verification techniques. The front vehicle region verification method according to an embodiment of the present invention includes the steps of extracting vehicle candidate regions from a current image and analyzing the composition of vehicle candidate regions to verify the actual presence of a vehicle. Accordingly, the method is capable of reducing the detection errors and failures. [Reference numerals] (AA) Start; (BB) End; (S210) Input a current image; (S220) Extracting vehicle candidate regions from the current image by an object recognition method; (S230) Verify a shape; (S231) Generate edge images for the vehicle candidate regions; (S232) Generate horizontal edge images from the edge images; (S233) Verify whether the vehicle candidate regions are vehicle regions or not by comparing the horizontal edge images and a horizontal edge image of a vehicle; (S240) Verify the width of the vehicle; (S241) Calculate the width of the vehicle from the vehicle candidate regions with the verified shape; (S242) Calculate a vehicle distance from the vehicle candidate regions with the verified shape; (S243) Exclude the vehicle candidate regions existing within a critical distance from a vanishing point of a road; (S244) Exclude the vehicle candidate regions which have an abnormal relation between the width of the vehicle and the vehicle distance; (S250) Verify time; (S251) Calculate movement information of the vehicle candidate regions with the verified width of the vehicle by referring to previous images; (S252) Exclude the vehicle candidate regions which have no temporal causality by the movement information
Abstract translation: 提供了一种通过组合各种验证技术来验证前车辆区域的方法和装置。 根据本发明的实施例的前车辆区域验证方法包括以下步骤：从当前图像中提取车辆候补区域并分析车辆候补区域的组成以验证车辆的实际存在。 因此，该方法能够减少检测错误和故障。 （附图标记）（AA）开始; （BB）结束; （S210）输入当前图像; （S220）通过对象识别方法从当前图像中提取车辆候补区域; （S230）验证形状; （S231）生成车辆候补区域的边缘图像; （S232）从边缘图像生成水平边缘图像; （S233）通过比较车辆的水平边缘图像和水平边缘图像来验证车辆候选区域是否是车辆区域; （S240）验证车辆的宽度; （S241）从具有验证形状的车辆候补区域计算车辆的宽度; （S242）计算具有验证形状的车辆候补区域的车辆距离; （S243）排除存在于距离道路消失点的临界距离内的车辆候补区域; （S244）排除车辆宽度与车辆距离异常关系的车辆候补区域; （S250）验证时间; （S251）参照先前的图像，计算具有经验证的车辆宽度的车辆候补区域的移动信息; （S252）排除由移动信息没有时间因果关系的车辆候补区域
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