| Width Estimation of Stationary Objects using Radar Image for Autonomous Driving of Unmanned Ground Vehicles |
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Seongjoon Kim, Dongwon Yang, Sujin Kim, Younghun Jung |
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The 5th Research and Development Institute, Agency for Defense Development |
| 무인차량 자율주행을 위한 레이다 영상의 정지물체 너비추정 기법 |
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김성준, 양동원, 김수진, 정영헌 |
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국방과학연구소 제5기술연구본부 |
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| Abstract |
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Recently many studies of Radar systems mounted on ground vehicles for autonomous driving, SLAM (Simultaneous localization and mapping) and collision avoidance have been reported. Since several pixels per an object may be generated in a close-range radar application, a width of an object can be estimated automatically by various signal processing techniques. In this paper, we tried to attempt to develop an algorithm to estimate obstacle width using Radar images. The proposed method consists of 5 steps - 1) background clutter reduction, 2) local peak pixel detection, 3) region growing, 4) contour extraction and 5)width calculation. For the performance validation of our method, we performed the test width estimation using a real data of two cars acquired by commercial radar system - I200 manufactured by Navtech. As a result, we verified that the proposed method can estimate the widths of targets. |
| Key Words:
RADAR, Close-Range RADAR, Obstacle Detection, Width Estimation, Region Growing, Clustering |
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