运动模糊情况下障碍物检测预处理

针对在非结构化环境下，摄像机和拍摄目标相对运动造成的图像模糊情况，进行障碍物检测预处理。利用边缘锐度法判定获得的图像是否为运动模糊图像，如果是则利用傅里叶频谱和Radon变换得到点扩展函数后，利用 Lucy-Richardson法进行复原；为了降低后期障碍物检测的处理复杂度，利用提出的一种改进二维熵分割算法进行障碍物粗定位，面积阈值消除噪声影响，完成障碍物检测预处理。通过仿真实验验证了该方法的可行性和有效性，为智能汽车在非结构化环境下避障提供参考依据，为障碍物识别奠定基础。

Pre-obstacle detection in the case of motion blur

This paper researches pre-obstacle detection in the case of blurred image caused by relative movement between the camera and the object,in accordance with the unstructured environment.This paper presents an improved two-dimensional entropy segmentation algorithm.Edge sharpness method is used to determine whether the image is a motion blurred image.If the answer is yes,the point spread function should be obtained using Fourier spectrum and Radon transform,and the image is restored by Lucy-Richardson method.In order to reduce the complexity of the obstacle detection algorithm,obstacles are coarsely positioned using the improved two-dimensional entropy segmentation algorithm,and the area threshold method is used to eliminate noise.The pre-obstacle detection is completed.Simulation results demonstrate the feasibility and the effectiveness.This can provide reference for smart cars avoiding colliding with obstacles,and is the foundation for identifying obstacles.