조감도에서 주차선 검출을 위한 엣지 영상 기반의 조명 반사광 제거 방법

Abstract

An reflected light from the ground in an indoor parking lot causes a difficulty detecting parking slot using line-based method. This paper proposes a method removing reflected light in the indoor parking lot. The proposed method is applied to edge filtered bird’s-eye view image captured from rear-view camera and assumes two constraints that the slot type of a parking lot is a rectangular and the position of a vehicle is perpendicular to the parking slot. The feature of a reflected light in the bird’s-eye view image is used to eliminate the reflected light and D-DBSCAN is utilized to cluster line segments. The experimental result using data of indoor parking lot shows that the proposed method successfully eliminates the reflected light.