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基于运动模型的道路识别与跟踪算法的研究
引用本文:苏开娜,任文君,易小琳,丰丽军. 基于运动模型的道路识别与跟踪算法的研究[J]. 中国图象图形学报, 2000, 5(3): 226-231
作者姓名:苏开娜  任文君  易小琳  丰丽军
作者单位:北京工业大学计算机学院!北京100044
基金项目:北京市自然科学基金资助项目!( 4992 0 0 1),北京市教委资助项目 ( 99KJ0 6 ),清华大学智能系统与技术国家重点实验室资助项目
摘    要:自主驾驶与辅助导航是目前国际上研究的热问题,通过对室外行驶车辆上的CCD摄像机所采集的长序列立体图象的处理与分析,研究公路汽车自动视觉导航中的道路识别与跟踪问题。

关 键 词:运动模型 道路识别 跟踪算法 汽车 视觉导航系统
收稿时间:1998-12-09
修稿时间:1999-09-13

A Kinematic Model-Based Road Recognition and Tracking
SU Kai-n,REN Wen-jun,YI Xiao-lin and FENG Li-jun. A Kinematic Model-Based Road Recognition and Tracking[J]. Journal of Image and Graphics, 2000, 5(3): 226-231
Authors:SU Kai-n  REN Wen-jun  YI Xiao-lin  FENG Li-jun
Affiliation:Computer Institute of Beijing Polytechnic University,Beijing100044;Computer Institute of Beijing Polytechnic University,Beijing100044;Computer Institute of Beijing Polytechnic University,Beijing100044;Computer Institute of Beijing Polytechnic University,Beijing100044
Abstract:Abstract The problem of autonomous driving and co navigating has received increasing attention in recent years. This paper researches on road recognition and tracking in automatic visual road vehicle guidance system by processing and analysing a long sequence stereo images of real road which are gathered on an autonomous vehicle driveing outside. An algorithm is proposed for estimating the parameters of three dimensional motion, based on long sequence stereo images processing. It is our core method to build the road's curvature dynamic model, vehicle's state kinematic model and camera's perspective model, and to estimate the 3D motion parameters using Kalman filter. The algorithm is fast,robust and practical. Experimental results with real scene images are given. Experiments prove that the results are satisfying for road recognition and tracking, so the approach could actively improve the research on the performance of the visual road vehicle guidance system.
Keywords:Kinematic model   Long sequence of stereo images   Estimation of motion parametrs   Road recognition and tracking
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