Perspective and 360° equirectangular projection image-based stereo-monocular distance estimation with online calibration = 원근투영법 및 360° 등장방형도법 영상을 활용한 양안-단안기반 거리 추정 및 외부 매개변수 교정

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For the safe autonomous driving with vision-based distance estimation, gaining a wide field of view information to sense the surrounding situation and precise information with details for reliability are essential factors. However, obtaining the two factors simultaneously is difficult, as they relate in inversely due to the limited size of the image sensor. Considering the issue, in this paper, I suggest the new distance estimation system by using two different types of images which are the perspective projection image for the details in the region of interest (RoI) and 360° omni-directional equirectangular projection (ERP) image for the beyond regions. The distance is estimated in stereo-based solution at intersected regions and monocular-based solution at the rest of the regions. However, due to the inaccurate result of the monocular-based solution, I suggest supplementing the inaccuracy by conjugating the stereo-based solution. Besides the distance estimation, as the region of interest (RoI) can be changed due to the user’s attention, the system also includes an online calibration task to consider a rotation of the perspective projection image.
Advisors
Yoon, Kuk-Jinresearcher윤국진researcher
Description
한국과학기술원 :기계공학과,
Publisher
한국과학기술원
Issue Date
2020
Identifier
325007
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 기계공학과, 2020.8,[iv, 36 p. :]

Keywords

Deep learning▼aStereo-based distance estimation▼aMonocular-based distance estimation▼aOnline calibration▼aEquirectangular projection image▼aPerspective projection image; 딥러닝▼a양안 기반 거리 추정▼a단안 기반 거리 추정▼a실시간 외부 매개변수 교정▼a등장방형도법 영상▼a원근 투영 영상

URI
http://hdl.handle.net/10203/284954
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=925113&flag=dissertation
Appears in Collection
ME-Theses_Master(석사논문)
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