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1 Parking Assist System
2 주차보조시스템의 다양한 형태 후방 장애물 거리 경보 - 차량 후미에 장착된 초음파 센서를 이용하여 장애물 감지 - Visual, audio warning 제공 Parkmatic Parking Sensor Parking Dynamics PD1
3 주차보조시스템의 다양한 형태 주변 장애물 거리/방향 표시 - 차량 둘레에 장착된 초음파 센서를 이용하여 장애물 감지 - 화면에 장애물 방향과 거리 표시, 음향 경보 병행 Audi Q7 Parking System BMW PDC (Parking Distance Control)
4 주차보조시스템의 다양한 형태 Rear View Camera (단순 후방 카메라) 후진 기어를 넣으면, 후방 카메라 영상을 HMI로 보여줌. Rear View Camera feature of the 2010 Mercedes-Benz E-Class Sedan and Coupe.
5 주차보조시스템의 다양한 형태 후방 카메라 + 예상 경로 표시 - 후방 카메라로 주차 상황 제공 - 조향각에 따른 예상 경로 표시 Audi Q7 Advanced Parking System
6 주차보조시스템의 다양한 형태 Around View Monitor - 전후좌우에 장착된 4개의 어안렌즈 카메라 사용 - 어안렌즈 왜곡 보상 후 모자이크 조감도 제공 2008 Infiniti EX35
7 주차보조시스템의 다양한 형태 Around View Monitor의 주행 중 활용 - 골목길에서 나올 때, 좌우 교통상황 파악 - 좁은 골목길 통과 시, 좌우 측 관찰 Honda Multi-View Camera System
8 주차보조시스템의 다양한 형태 Self Parking (후진만) - 초음파 기반 측면 빈 주차공간 인식 - GUI 기반 주차위치 설정 - 조향 조작 자동화, 브레이크 페달로 조절 2010 Toyota Prius: Intelligent Parking Assist
9 주차보조시스템의 다양한 형태 Self Parking (후진만) - 초음파 기반 측면 빈 주차공간 인식 - 장애물까지 거리 가시화, 차량 주변 조감도 제공 -조향조작자동화 BMW 5 Series (F10) - Park Assist
10 주차보조시스템의 다양한 형태 Self Parking (전진+후진) - 초기위치에서 후진에 최적인 위치로 전진 후 후진 -조향조작자동화 Honda Park Assist
11 주차보조시스템의 다양한 형태 Remote Parking Assist - 개인 차고에 주차하는 상황 - 내려서 리모콘으로 진행 조정 - 정면 벽면에 특수 반사판 설치하여 거리/각도 측정 BMW Technology of the Remote Park Assist
12 주차보조시스템의 다양한 형태 Remote Parking Assist - 측후방 초음파 센서로 빈 공간 및 후방 장애물 인식 VW Passat CC Park Assist Vision
13 주차보조시스템의 다양한 형태 접근 차량 경보 (주차위치에서 출발할 때) - BSD용 radar 센서 활용 2010 Ford Taurus Cross Traffic Alert
14 목표위치 설정방법 [1] GUI-Based Markings-Based Free Space-Based Infra-structure-Based
15 목표위치 설정방법 : 빈 공간 인식 기반 [1] Free Space-Based Ultrasonic sensor-based Short range radar (SRR)-based Single image understanding-based Motion stereo-based Binocular stereo-based Light stripe projection-based Scanning laser radar-based
16 세가지 좌표계,, Homography One-to-one correspondence between three coordinate systems
17 GUI 기반: : Drag and Drop Interface Moving by dragging the inside of rectangle Performance comparison with arrow button-type (8 situations, 50 persons) Rotating by dragging the outside of rectangle
18 GUI 기반: : Drag and Drop Interface Jung, Ho Gi, Kim, Dong Suk*, Yoon, Pal Joo, Kim, Jaihie, NOVEL USER INTERFACE FOR SEMI-AUTOMATIC PARKING ASSISTANCE SYSTEM, 31st FISITA World Automotive Congress, Yokohama, Japan, October 2006.
19 주차구획인식 기반: 전자동 방식 Ho Gi Jung*, Dong Suk Kim, Pal Joo Yoon and Jaihie Kim, Parking Slot Markings Recognition for Automatic Parking Assist System, IEEE Intelligent Vehicles Symposium 2006, Tokyo, Japan, June 13-15, 2006, pages:
20 주차구획인식 기반: 전자동 방식
21 주차구획인식 기반: 반자동 방식 (one touch) Clicking inside of target parking slot Marking detection Guideline detection Separating line detection Ho Gi Jung*, Dong Suk Kim, Pal Joo Yoon, Jaihie Kim, Structure Analysis Based Parking Slot Marking Recognition for Semi-automatic Parking System, LNCS Vol (SSPR 2006 and SPR 2006, Joint IAPR International Workshops on Structural and Syntactic Pattern Recognition and Statistical Techniques in Pattern Recognition, Hong Kong, China, August 17-19, 2006), August 2006, pages:
22 주차구획인식 기반: 반자동 방식 (two touch) 목표주차위치 입구 양쪽 끝을 클릭함으로써 다양한 종류의 주차구획표시 인식 Ho Gi Jung, Yun Hee Lee, Jaihie Kim, Uniform User Interface for Semi-automatic Parking Slot Markings Recognition, IEEE Transactions on Vehicular Technology, Vol. 59, No. 2, Feb. 2010, pp
23 주차구획인식 기반: 반자동 방식 (two touch) 주차구획표시의 종류 및 junction pattern 종류
24 주차구획인식 기반: 반자동 방식 (two touch) Neural network을 이용한 junction pattern 종류 인식 Intensity histogram에 대한 Clustering으로 구 획표시영역 분리 Skeleton의 distance transform에 대하여, genetic algorithm을 이 용하여 template localization
25 주차구획인식 기반: 반자동 방식 (two touch) 191 case에 대한 평가에서 90% 이상의 성공률을 확인
26 Motion Stereo 기반 Jae Kyu Suhr, Ho Gi Jung, Kwanghyuk Bae, Jaihie Kim, Automatic free parking space detection by using motion stereo-based 3D reconstruction, Machine Vision and Applications, Vol. 21, No. 2, Feb. 2010, pp
27 Motion Stereo 기반 LKT feature tracking을 이용한 point correspondence 검출 Last image of image sequence Feature point tracking result
28 Motion Stereo 기반 Corresponding points RANSAC with 8-point M-estimator Inliers Fundamental matrix Essential Matrix Calibrated camera intrinsic parameters Camera Matrix (R, t) 3D reconstruction (triangulation)
29 Motion Stereo 기반 Triangulation에 의한 3D 복원 x cam X x' cam Y Y ' Z X Z ' X ' x PX x ' P cam ' X cam x cam PX ' cam ' 0 0 x P X 3T 1T xp p 3T 2T yp p AX = 0 where A 3T 1T 3T 1T 3T 1T x 'p' p' xp X p X 0 x 'p' X p' X 0 3T 2T 3T 2T 3T 2T yp X p X 0 y 'p' X p' X 0 y 'p' p' 2T 1T 2T 1T xp X yp X 0 x'p' X y'p' X 0
30 Motion Stereo 기반 Epipole location in image 3D reconstruction with all corresponding points 3D reconstruction after removing the point near the epipole
31 Motion Stereo 기반 Z (cm) Z (cm) X (cm) X (cm) Z (cm) Z (cm) X (cm) X (cm) Parking situation With using the proposed method Without using the proposed method
32 Motion Stereo 기반 Corner Z (cm) X (cm) Orientation Frequency count Mean: 14.9 cm Corner point error (cm) Corner point error Frequency count Mean: Orientation error (degree) Orientation error
33 LSP 기반: 실내주차장 대응 Coping with dark situation of underground parking lots Image with light stripe Image without light stripe Light stripe by difference Reconstructed 3D information Ho Gi Jung, Dong Suk Kim, Pal Joo Yoon, and Jaihie Kim, Light Stripe Projection based Parking Space Detection for Intelligent Parking Assist System, Proceedings of the 2007 IEEE Intelligent Vehicle Symposium, Istanbul, Turkey, Jun , Ho Gi Jung, Jaihie Kim, Light stripe projection-based Target Position Designation for Intelligent Parking Assist System, IEEE Transaction on Intelligent Transportation Systems, Vol. 11, No. 4, Dec. 2010, pp
34 LSP 기반: 실내주차장 대응 The equation of light plane point P 0 (0, -b, 0), the normal vector n of light plane nx ( P 0 ) 0 sin sin n sin cos cos The equation of line Op A point on light stripe (X, Y, Z), f: focal length, Q: a point on line Op X Z Y x f y Q kx, ky, k f The solution by cross-point k btan cos f tan xsin ycos One-to-one mapping from (x,y) to (X,Y,Z) X Y xb tan cos f tan xsin ycos yb tan cos f tan xsin ycos Z f btan cos f tan xsin ycos
35 LSP 기반: 실내주차장 대응 Reconstructed 3D data Orientation estimation Depth map construction Target position establishment Inverse rotation Projection
36 LSP 기반: 실내주차장 대응 Situation Cases Success No. Recognition rate Vehicle-vehicle Vehicle-pillar Pillar-pillar Total
37 Scanning Laser Radar 기반 Scanning laser radar의 소형화, 저가형개발추세 y (m) y x x (m) Ho Gi Jung, Young Ha Cho, Pal Joo Yoon, and Jaihie Kim, Scanning Laser Radar-Based Target Position Designation for Parking Aid System, IEEE Transactions on Intelligent Transportation Systems, VOL. 9, NO. 3, Sep. 2008, pp
38 Scanning Laser Radar 기반 Rectangular corner detection l : ax byc0 1 l : bx ayd 0 2 x1 y1 1 0 a xn yn 1 0 b 0 yn xn 0 1 c d yn xn 0 1 X n A n [ U, S, V ] SVD( A ) n n n n error Unaffected by orientation and robust to noise n y (m) y (m) y (m) x (m) x (m) x (m)
39 Scanning Laser Radar 기반 Round corner detection 4 3 l : pxqyr : 0 e ax bxy cy dx ey f e ax bxy cy dx ey f : 0 l : pxqyr or x (m) y (m) y (m) y (m) x (m) x (m) Rectangular corner detection Round corner detection y (m) y (m) x (m) x (m)
40 Scanning Laser Radar 기반 Established target position Corner detection Main reference corner detection (ROI, free space constraint) Subreference corner detection
41 Scanning Laser Radar 기반 Scanning laser radar-based shows the best performance (112 situations 98.2%, 615.3msec) Against the sun Dark underground pakring lots With various kinds of vehicles Cloudy weather
42 Infra-structure 기반 주차지원 시스템 [2][3] Parking administration, sensing and driver assistance system으로 구성.
43 Infra-structure 기반 주차지원 시스템 [2][3] 1. Parking spot assignment and parking-data transmission 2. Rough guidance from the parking lot entrance to the parking spot entrance 3. Find guidance until the completion of parking (주의) 차량에 대한 능동제어는 포함되지 않았음.. GUI를 이용한 안내만 지원.
44 Infra-structure 기반 주차지원 시스템 [2][3]
45 Infra-structure 기반 주차지원 시스템 [2][3] 네 가지 HMI mode 1. Navigation mode 2. Handle operation mode 3. Target position mode 4. Gear change mode Rough guidance Fine guidance
46 자동 발렛파킹시스템 자동 발렛파킹을 위한 센서기반 공간인지 및 자동주행 개념도
47 Open Problems Parallel Parking Device?
48 References 1. Ho Gi Jung, "Target Position Designation Methods for Parking Assistant System", Ph.D. Dissertation, Yonsei University, Aug Massaki Wada, Kang Sup Yoon, Hideki Hashimoto, Development of Advanced parking Assistance System, IEEE Transactions on Industrial Electronics, Vol. 50, No. 1, Feb. 2003, Massaki Wada, Mami Mizutani, Masaki Saito, Xuchu Mao, Hideki Hashimoto, ican: Pursuing Technology for Near-Future ITS, IEEE Intelligent Systems, Vol. 19, No. 1, Jan./Feb. 2004,
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