하이브리드 검출기법을 이용한 후보 차선검출에 관한 연구
A Study on Candidate Lane Detection using Hybrid Detection Technique
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초록
자동차 보유량이 늘어남에 따라 남녀노소 모두 교통사고에 위협이 가해지고 있으며 교통사고가 자주 일어나는 점을 미연에 방지하기 위해 ADAS 가 중요하다 . 이러한 교통사고의 주범을 인지하고 방지하는 한 방 법이 차선 검출을 이용하는 것이다 . 따라서 본 논문에서는 영상처리를 통해 차선검출 기법을 연구하였고 영상 처리에 의한 많은 에지 검출기법들 중 눀표적인 소벨 에지 검출 기법과 캐니 에지 검출 기법을 사용하여 , 두 가지 에지 검출기법을 통해 곡선과 직선의 차선 검출에서 가장 검출율이 좋은 기법을 찾아 직선의 차선을 검출 하는 기법에 적용한다 . 실험은 총 4,000 프레임(주간영상 2,900 프레임, 야간영상 1,100 프레임)으로 실험을 수행하 고, 실험 결과는 주간 영상에서 소벨 에지 검출 기법의 임계치는 2차미분차수로 검출하는 것이 가장 높은 후보 차선 검출율을 보였으며 검출율이 86.1% 이고, 캐니 에지 검출 기법의 임계치는 Low=50, High=300 에서 가장 높은 88.0% 의 검출율을 보였다
Abstract
As more people have cars, the threat of traffic accidents is posed on men and women of all ages. The main culprit of traffic accidents is driving while intoxicated or drowsy. The method to recognize and prevent the cause of traffic accidents is to use lane detection. In this study, a total of 4,000 frames (day image: 2,900 frames, night image: 1,100 frames) were used to test lane detection. According to the test, in the case of day image, when the threshold of Sobel edge detection technique was detected with second-order differential equation, there was the highest candidate lane detection rate which was 86.1%. In the threshold of Canny edge detection technique, the highest detection rate of 88.0% was found at Low=50, and High=300. In the case of night image, the threshold of Sobel edge detection technique, when horizontal calculation and vertical calculation had second-order differential equation, and when horizontal-vertical calculation had 1.5th-order differential equation, there was the highest detection rate which was 83.1%. In the threshold of Canny edge detection technique, the highest detection rate of 89.9% was found at Low=50, and High=300
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