|제목(국문)||스테레오 비전 기술을 이용한 도로 표지판의 3차원 추적|
|제목(영문)||Three Dimensional Tracking of Road Signs based on Stereo Vision Technique|
,School of Computer Science and Engineering, Kyungpook National University
최성인 (Sung-In Choi ,경북대학교 ) ▷공저자네트워크등록하기
박순용 (Soon-Yong Park ,경북대학교 대학원 기계공학과 ) ▷공저자네트워크등록하기
Road signs provide important safety information about road and traffic conditions to drivers. Road signs include not only common traffic signs but also warning information regarding unexpected obstacles and road constructions. Therefore, accurate detection and identification of road signs is one of the most important research topics related to safe driving. In this paper, we propose a 3-D vision technique to automatically detect and track road signs in a video sequence which is acquired from a stereo vision camera mounted on a vehicle. First, color information is used to initially detect the sign candidates. Second, the SVM (Support Vector Machine) is employed to determine true signs from the candidates. Once a road sign is detected in a video frame, it is continuously tracked from the next frame until it is disappeared. The 2-D position of a detected sign in the next frame is predicted by the 3-D motion of the vehicle. Here, the 3-D vehicle motion is acquired by using the 3-D pose information of the detected sign. Finally, the predicted 2-D position is corrected by template-matching of the scaled template of the detected sign within a window area around the predicted position. Experimental results show that the proposed method can detect and track many types of road signs successfully. Tracking comparisons with two different methods are shown.
|keyword||traffic sign, road sign, detection, tracking, stereo|