| 单目视觉导航智能车辆的自定位方法 |
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| 引用本文： | 赵颖,孙群,王书茂.单目视觉导航智能车辆的自定位方法[J].计算机工程与设计,2008,29(9):2372-2374. |
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| 作者姓名： | 赵颖 孙群 王书茂 |
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| 作者单位： | 1. 聊城大学,汽车与交通工程学院,山东,聊城,252059
2. 中国农业大学,工学院,北京,100083 |
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| 摘 要： | 提出了一种单目视觉导航智能车辆的自定位方法,采用"两步法"对摄像头进行标定;推导出智能车辆位姿的参数表达式,采用基于一点的Hough变换方法提取导航路径信息,计算出导航路径的偏转角β和横向偏移距离d;通过仿真实验进行了验证.实验结果表明,偏转角β的最大误差在1.1°之内,横向偏移距离d的最大误差不超过3.2cm,满足智能车辆的自定位要求.
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| 关 键 词： | 单目视觉 智能车辆 自定位 摄像头标定 Hough变换 |
| 文章编号： | 1000-7024(2008)09-2372-03 |
| 修稿时间： | 2007年5月21日 |
Study on self-localization of intelligent vehicle based on monocular navigation |
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| ZHAO Ying,SUN Qun,WANG Shu-mao.Study on self-localization of intelligent vehicle based on monocular navigation[J].Computer Engineering and Design,2008,29(9):2372-2374. |
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| Authors: | ZHAO Ying SUN Qun WANG Shu-mao |
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| Affiliation: | ZHAO Ying1,SUN Qun1,WANG Shu-mao2(1.School of Automobile , Traffic Engineering,Liaocheng University,Liaocheng 252059,China,2.School of Engineering,China Agricultural University,Beijing 100083,China) |
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| Abstract: | Self-localization is a key technique of intelligent vehicles.A method of self-localization for monocular navigation based in-telligent vehicle is studied.Firstly,the camera is calibrated by traditional two-step method.Secondly,expressions of the intelligent vehicle's location are put forward,including the distance() and the deflection angle() between the vehicle and the navigation route.Then,improved Hough Transform is adapted to obtain navigation route information.At last,experiments are also done.Experime... |
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| Keywords: | single-camera vision intelligent vehicle self-localization camera calibration Hough transform |
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