基于单目测距技术的道路障碍物检测方法

本文从计算机视觉的角度，对障碍物检测进行了研究。本文将单目视觉系统简化为摄像机投影模型。通过几何关系推导法建立测距模型，获得图像坐标与世界坐标系之间的转换关系，最后实现障碍物距离的测算。经试验证明，本文选用的测距模型的误差在可接受范围之内。

Method of Obstacle Detection for the Road based on Monocular Measurement

This paper is based on computer vision technology to detect obstacles on the process of research. Establish the model of monocular measurement through the geometric relationship, obtain the transformation relationship between image coordinate and world coordinate system, and finally achieve the obstacles of distance measurement. Proved by the experiment, the error of the measurement model is acceptable.