OpenCV RANSAC 알고리즘 기반 자율 주행 자동차 구현

Autonomous Vehicle Implementation Based on OpenCV RANSAC Algorithm

This paper summarizes the implementation of lane recognition using OpenCV, one of the open source computer vision libraries. The Linux operating system Rasbian(r18.03.13) was installed on the ARM processor-based Raspberry Pi 3 board, and Raspberry Pi Camera was used for image processing. In order to realize the lane recognition, Canny Edge Detection and Hough Transform algorithm implemented in OpenCV library was used and RANSAC algorithm was used to prevent shaking of vanishing point and to detect only the desired straight line. In addition, the DC motor and the Servo motor were controlled so that the vehicle would run according to the detected lane.