基于动态模板的实时道路跟踪*

设计了一种基于双车道的结构模板及其模板匹配度函数，并将它用于单摄像机跟踪高速公路的道路标志线。在模板初始化成功后，算法在跟踪阶段利用历史检测信息动态生成检测模板，在更小的范围内保持标志线的跟踪。算法利用了高速公路车道的整体结构信息进行标志线的检测和跟踪。实验表明，该方法具有较好的鲁棒性，并且计算量小，满足系统的实时性要求。

Real time road following based on dynamic template

Projected a kind of template and its evaluation function based on the double-lane structure,which were used to follow the marking line by monocular camera on the highway.In the following phase,the algorithm used the history information to construct the dynamic detection template,and tracked the marking line within a smaller range after the template had been initialized successfully.Because of using the whole structure of highway,the algorithm is robust and low computer costs,and it meets the demand of the real-time system.