Depth와 Amplitude Image를 이용한 차량 문 주변 장애물 인식 및 거리 추정

초록

Vehicle-related accidents can occur not only when the vehicle is moving but even during the boarding and alighting processes. To prevent accidents that may occur when the vehicle door is being opened, we propose a sensor system that can be used to notify people or control the door directly when certain obstacles exist within the door’s motion range and when the distance between the obstacle and the door is less than a certain distance. To develop the proposed system, a low-resolution ToF(Time of Flight) camera is attached to a vehicle door. This paper describes the overall system configuration including the problems encountered in recognizing obstacles from the ToF camera image and possible solutions to these problems. The developed system can process a single frame at approximately 30ms in a controlled environment and can detect obstacles while estimating the distance from the vehicle door.

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