| 结构化道路车道线的鲁棒检测与跟踪 |
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| 引用本文： | 刘献如. 结构化道路车道线的鲁棒检测与跟踪[J]. 上海电力学院学报, 2010, 0(12) |
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| 作者姓名： | 刘献如 |
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| 作者单位： | 中南大学信息科学与工程学院; |
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| 基金项目： | 国家自然科学基金重大专项资助项目(90820302);国家自然科学基金面上资助项目(60805027); 国家博士点基金资助项目(200805330005) |
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| 摘 要： | 针对智能车在视觉导航过程中车道线检测的鲁棒性和实时性问题,提出一种适用于结构化道路的车道线鲁棒检测与跟踪方法。首先,简化的Sobel算子提取车道线边缘图像,将边缘图像与改进的Otsu方法得到的车道线分割图像进行融合,实现对车道线标记点的鲁棒检测;然后,采用迭代最小二乘方法拟合车道线标记点并去除干扰点,并根据拟合参数建立车道线模型;最后,引入尺度无迹卡尔曼滤波(SUKF)对车道线进行跟踪。通过对多段实地采集的视频进行了仿真实验,结果表明,该方法对于高速公路车道线的检测率可达到99%,并具有较好实时性能;对于受损和弄污的城市道路车道线也体现出较好的鲁棒性和时间性能。
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| 关 键 词： | 车道线检测 改进Otsu 车道线跟踪 尺度无迹卡尔曼滤波(SUKF) 智能车 |
Robust lane detection and tracking for the structured road |
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| LIU Xian-ru. Robust lane detection and tracking for the structured road[J]. Journal of Shanghai University of Electric Power, 2010, 0(12) |
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| Authors: | LIU Xian-ru |
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| Affiliation: | School of Information Science , Engineering,Central South University,Changsha 410083,China |
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| Abstract: | Aiming at the robust and real time problems of lane detection in the visual navigation system of intelligent vehicles,a robust lane detection and tracking method is proposed for the structured road.Firstly,the lane marking pixels are reliably detected by fusing the lane edge image with the simplified Sobel algorithm and the lane segmentation image with the improved Otsu method.Secondly,the iterative least square method is proposed for fitting the lane markings and removing the non-lane markings.Then the lan... |
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| Keywords: | lane detection improved Otsu lane tracking scaled unscented Kalman filter(SUKF) intelligent vehicles |
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