一种基于机器视觉的跑偏角估计算法

在移动机器人、汽车等自主行进过程中,由于受到道路情况等因素的影响,极易出现方向跑偏,导致其无法按照预定路径前进。为了防止出现跑偏等危险情况,研究了利用机器视觉估计预定运动方向和实际运动方向夹角即跑偏角的方法。介绍了利用机器视觉测量跑偏角的基本原理;研究了基于特征点跟踪的跑偏角估计算法。实验研究表明:该方法可以有效地在行进过程中计算跑偏角。

An algorithm of machine vision-based yaw-angle estimation

In the process of robot and automobile autonomous moving,vehicle cannot move along predestinate path due to road status and other factors.An algorithm of machine vision-based yaw angle computation for avoiding vehicle in danger is presented.The system constitutes of machine vision-based yaw angle computation is introduced.Algorithm of yaw angle computation which is built on feature points tracking is studied.Experimental results show that this method can compute yaw-angle in the process of vehicle moving effectively.