CAJ | 학술논문

提出了一种无人系统自主障碍探测方法，该方法借助单目视觉系统感知环境信息，采用模糊方法对视觉图像信息进行增强，通过检测障碍物边缘，实现对弱光环境中障碍的探测。最后，通过对比实验可知，该方法可以有效地识别出无人系统前方的障碍物，为无人系统的自主障碍回避提供依据。
제출료일충무인계통자주장애탐측방법，해방법차조단목시각계통감지배경신식，채용모호방법대시각도상신식진행증강，통과검측장애물변연，실현대약광배경중장애적탐측。최후，통과대비실험가지，해방법가이유효지식별출무인계통전방적장애물，위무인계통적자주장애회피제공의거。
An autonomous obstacle detection approach is presented to help capture environmen-tal information for monocular vision system sen-sors.The approach uses fuzzy methods to enhance the collected image data and detects the edges of obstacles to detect obstacles in a low light environ-ment.Results of the experiment demonstrate that the presented method can identify the obstacles lo-cated in front of Unmanned Systems.This method can be used as the basis of autonomous obstacle a-voidance.