| 제목 |
자율주행 차량과 차량센서 교정을 위한 외부 시스템 구성에 관한 연구 |
| 분야 |
전기ㆍ전자ㆍ통신 |
| 언어 |
Korean |
| 저자 |
이동근(차세대융합기술연구원), 한재윤(차세대융합기술연구원), 박경령(차세대융합기술연구원), 임경일(차세대융합기술연구원) |
| Key Words |
Calibration room(교정 룸), Extrinsic calibration(외부 교정), External system(외부 시스템), Autonomous driving(자율주행), Autonomous vehicle(자율주행 자동차) |
| 초록 |
To improve autonomous driving performance, vehicle and sensor extrinsic calibration is essential. There are two methods that can be used to perform extrinsic calibration: a target-based method and a non-target-based method. Target-based calibration is a method of calibrating between sensors by using a target. It can extract more accurate values. However, target-based calibration is limited because calibration between the vehicle and its sensors is impossible. The motion-based method calibrates the vehicle and its sensors based on the vehicle’s movement. However, this method requires a large space, various movements, and initial values. In this paper, these limitations were addressed by proposing both an external system for vehicle to sensor extrinsic calibration and a calibration method between the external system and the calibration room. To evaluate the validity of the proposed system and method, we constructed the calibration room environment by using a gazebo simulator. |
| 원문(PDF) |
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