基于摄像头的智能车黑色虚线识别算法研究

针对“飞思卡尔”智能车竞赛的赛道由虚线组成的特点,提出一种提取智能车黑色虚线识别算法.该算法将是在改进的边缘检测算法和左边跟踪检测法的基础上,利用直线斜率和直线方程,把虚线跑道补实,来完成智能车赛道的信息采集.实际测试表明该方法能够实现路径识别的正确性和快速性,可在黑白（或色差较大）赛道上获得良好的自主寻迹效果.

Research on Recognition Algorithm for Black Dotted Line of the Smart Car Based on Camera

According to the characteristics of ＂Freescale＂ smart car race track made up of dotted Line, a recogni- tion algorithm is proposed extracting the smart car black dotted line. Based on an improved edge detection algorithm and the left tracking detection method, using the slope of the straight line and the straight line equation, the algo- rithm fills the dotted line runway, and completes information collection of the intelligent vehicle. The actual test re- sults show this method can achieve the accuracy and validity of path recognition. It can obtain good autonomous tracing effect on the track in black and white（ or large color- difference）.