Auto Parking System
 Objective
- AVM based parking slot detection by using vision system
- Parking trajectory generation for auto parking

 Period: 2014. 11. ~ 2016. 01. /  Budget: 65 k$

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 Robust line filtering and global line modeling for slot detection
  ● Pillbox and morphological extreme filter for slot lines
  ● Radon transform for global line modeling

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 Dubins curve based path generation algorithm
  ● Simple geometric and analytical method to compute the optimal path
        - Parallel: Five circular arc segments and one straight line segment
        - Perpendicular: Three circular arc segments and two straight line segments

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