The present invention relates to a fusion sensor with an improved object recognition rate and a vehicle safety assistant system including the same. According to the present invention, the vehicle safety assistant system performs object detection and tracking with a camera and a time of flight (TOF) sensor to remarkably increase a detection rate in comparison with detection using a single camera or TOF sensor. The system converts a distance coordinate system of second objects detected by the TOF sensor into a pixel coordinate system to generate a fusion image so as to simply calculate mapping. The system calculates a pixel difference value between the first and second objects determined as the same object in calibration and calculates an average value of the calculated pixel value difference to determine the average value as a reference correction value so as to precisely map the distance and coordinate pixel systems. Moreover, the TOF sensor outputs N optical signals in a fan shape to precisely detect an object. According to the present invention, the vehicle safety assistant system comprises one or more fusion sensors, a controller, and a display means.
본 발명은 본 발명에 따르면 카메라 및 TOF 센서를 이용하여 객체 검출 및 트랙킹을 수행함으로써 단일카메라 또는 단일 TOF 센서로 구동될 때와 비교하여 감지율을 현저히 높여 정확성 및 신뢰도를 높일 수 있고, TOF 센서에 의해 검출된 제2 객체들의 거리좌표계를 픽셀좌표계로 변환하여 융합영상을 생성하도록 구성됨으로써 맵핑 연산이 간단하게 이루어질 수 있으며, 캘리브레이션 처리 시 동일객체로 판단된 제1 객체 및 제2 객체의 픽셀차이값을 산출한 후 산출된 픽셀차이값의 평균값을 산출하여 평균값을 기준보정값으로 결정함으로써 거리좌표계 및 픽셀좌표계의 맵핑이 정밀하게 이루어지고, TOF 센서가 N개의 광신호를 부채꼴 형상으로 출사하도록 구성됨으로써 객체를 더욱 정밀하게 감지할 수 있는 객체인식률을 높인 융합센서 및 이를 구비한 차량 안전지원 시스템에 관한 것이다.
Fusion sensor for improving object recognition rate and vehicle safety assistant system
객체인식률을 높인 융합센서 및 이를 구비한 차량 안전지원 시스템
2019-03-20
Patent
Electronic Resource
Korean
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