카메라센서를 이용한 장애물 차량위치 추정의 보정Compensation in Obstacle Position Estimation using Camera Sensor
- Other Titles
- Compensation in Obstacle Position Estimation using Camera Sensor
- Authors
- 박장희; 김승기; 신경식; 허건수
- Issue Date
- Nov-2014
- Publisher
- 한국자동차공학회
- Keywords
- Position estimation(위치 추정); Stereo vision sensor(영상정보 센서); Kalman filter(칼만 필터); Noise covariance(잡음 공 분산)
- Citation
- 한국자동차공학회 학술대회 논문집, pp.397 - 398
- Indexed
- OTHER
- Journal Title
- 한국자동차공학회 학술대회 논문집
- Start Page
- 397
- End Page
- 398
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/158582
- Abstract
- This paper presents Kalman filter design and experimental validation of the obstacle position estimation with stereo vision sensor. In detecting front vehicles by using stereo vision sensor, there are limitations that as measurement distance becomes larger, variance of measurement error becomes larger as well. So, using static measurement noise covariance does not guarantee accurate position estimation in Kalman filter for total distance range. This paper proposes dynamic measurement noise covariance scheme to achieve more accurate position estimation in Kalman filter. The proposed algorithm was evaluated by MATLAB/Simulink and validated by experiment with a vehicle equipped with laser scanner and stereo vision sensor.
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