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    국내학술지 제목 게시판 내용
    제목(국문) 무인선의 비전기반 장애물 충돌 위험도 평가
    제목(영문) Vision-Based Obstacle Collision Risk Estimation of an Unmanned Surface Vehicle
    저자 우주현 (Joohyun WOO ,Department of Naval Architecture and Ocean Engineering, Research Institute of Marine Systems Engineering, Seoul National University ) ▷공저자네트워크등록하기
    김낙완 (N.W.Kim ,Research Institute of Marine Systems Engineering, Seoul National University ) ▷공저자네트워크등록하기
    초록
    초록(영문)

    This paper proposes vision-based collision risk estimation method for an unmanned surface vehicle. A robust imageprocessing algorithm is suggested to detect target obstacles from the vision sensor. Vision-based Target Motion Analysis (TMA) was performed to transform visual information to target motion information. In vision-based TMA, a camera model and optical flow are adopted. Collision risk was calculated by using a fuzzy estimator that uses target motion information and vision information as input variables. To validate the suggested collision risk estimation method, an unmanned surface vehicle experiment was performed

    keyword computer vision, mono camera, target motion analysis, collision risk, unmanned surface vehicle
    저널명 제어로봇시스템학회논문지 ▷관련저널보기
    VOL 21
    PAGE 1089
    발표년도 2015
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