介绍了基于单目视觉技术的高速公路多车道快速检测与重建技术, 实现了高速公路的车道自动保持。采用双阈值法快速分割高速公路的白色分道线, 用特征跟踪法提取分道线, 根据道路视觉模型用圆锥曲线结合分道线特征点重建4条分道线。分析了根据道路视觉模型和分道线重建来实现车道保持的基本方法。该算法已经通过VC语言实现, 系统在四川省和重庆市的高速公路上以最高120 km/h的速度进行了试验, 圆满地完成了多车道检测任务, 实现了车道保持。
Abstract
Authors describe the multi-lane line detection and reconstruction with single view.At first, authors use double-threshold value method to extract the lane line, then, use feature point to track the lane line, at last, use the coned model to reconstruct the four lane lines.Authors also analyze the basic way to keep the road based on the vision model and the lane line model.Authors have experimented the system with the algorithms on freeway at 160 km/h in Sichuan province and Chongqing city in China. The result shows that the algorithms can work perfectly.
关键词
汽车运用工程 /
视觉导航 /
单目视觉技术 /
分道线检测 /
圆锥曲线模型 /
多车道重建
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Key words
automobile application engineering /
vision navigation /
single view technology /
lane line detection /
coned model /
multi-lane line reconstruction
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中图分类号：
U471.15
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参考文献
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脚注
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基金
国家自然科学基金项目(69674012)
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