CAJ | 학술논문

本文从计算机视觉的角度，对障碍物检测进行了研究。本文将单目视觉系统简化为摄像机投影模型。通过几何关系推导法建立测距模型，获得图像坐标与世界坐标系之间的转换关系，最后实现障碍物距离的测算。经试验证明，本文选用的测距模型的误差在可接受范围之内。
본문종계산궤시각적각도，대장애물검측진행료연구。본문장단목시각계통간화위섭상궤투영모형。통과궤하관계추도법건립측거모형，획득도상좌표여세계좌표계지간적전환관계，최후실현장애물거리적측산。경시험증명，본문선용적측거모형적오차재가접수범위지내。
This paper is based on computer vision technology to detect obstacles on the process of research. Establish the model of monocular measurement through the geometric relationship, obtain the transformation relationship between image coordinate and world coordinate system, and ifnally achieve the obstacles of distance measurement. Proved by the experiment, the error of the measurement model is acceptable.