| 公路视觉导航中基于卡尔曼滤波器的3D运动参数估计 |
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| 引用本文： | 苏开娜,任文君,丰丽军.公路视觉导航中基于卡尔曼滤波器的3D运动参数估计[J].电子测量与仪器学报,2000,14(2):15-20. |
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| 作者姓名： | 苏开娜 任文君 丰丽军 |
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| 作者单位： | 北京工业大学计算机学院,北京,100044 |
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| 基金项目： | 北京市自然科学基金，北京市教委资助课题 |
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| 摘 要： | 本文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像的处理与分析 ,研究基于卡尔曼滤波器的三维 (3D)运动参数估计方法 ,以实现公路视觉导航中车道线的自动检测与跟踪。本文还阐述了一种扩展的卡尔曼滤波算法
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| 关 键 词： | 视觉导航 卡尔曼(Kalman)滤波器 运动参数估计 |
| 修稿时间： | 1999-03-01 |
A Kalman Filter-based Estimation of 3D Motion Parameters in Dynamic Vision Navigation on the Road |
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| Su Kaina,Ren Wenjun,Feng Lijun.A Kalman Filter-based Estimation of 3D Motion Parameters in Dynamic Vision Navigation on the Road[J].Journal of Electronic Measurement and Instrument,2000,14(2):15-20. |
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| Authors: | Su Kaina Ren Wenjun Feng Lijun |
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| Affiliation: | Su Kaina
,Ren Wenjun
,Feng Lijun
(Computer Institute of Beijing Polytechnic University, Beijing 100044) |
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| Abstract: | This paper researches on a Kalman filter based estimation of 3D motion parameters for dynamic vision navigation on the road by processing and analysing a long sequence stereo images of real road which are gathered on an autonomous vehicle driving outside.This paper presents also a modified Kalman filtering algorithm. |
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| Keywords: | Vision navigation Kalman filter Estimation of motion parameters |
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