基于单目视觉的智能车直道定位算法研究

以全国大学生智能车竞赛为背景,针对单目智能车在直线赛道中的定位问题,提出一种单目智能车直道定位算法。根据赛道平面上点映射到相机像平面的成像规律,研究发现像平面中直线赛道两边缘线斜率与车身偏航角和偏离道路中线距离存在相关性,可由此计算出车身偏航角和偏离道路中线距离,实现智能车直道定位计算。经Matlab仿真与实例验证,该算法在图像分辨率一般的情况下就能准确地进行车身定位,具备定位精度高、计算量少的优点。

Research on Intelligent Vehicle Straight Track Location Based on Monocular Vision

This paper proposes a straight track location algorithm of monocular intelligent vehicle.According to the imaging law of point mapping on the track plane to the camera image plane,it is found that the slope of the two edges of the straight track in the image plane is correlated with the body yaw angle,and the distance away from the middle line of the road,by which the body yaw angle and the distance away from the middle line of the road can be calculated,and the straight-track location calculation of the intelligent vehicle can be realized.