| 基于线性逼近的车道线弯道识别方法 |
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| 引用本文： | 王宝锋,齐志权,马国成,陈思忠.基于线性逼近的车道线弯道识别方法[J].北京理工大学学报,2016,36(5):470-474. |
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| 作者姓名： | 王宝锋 齐志权 马国成 陈思忠 |
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| 作者单位： | 北京理工大学机械与车辆学院,北京,100081;北京理工大学机械与车辆学院,北京,100081;北京理工大学机械与车辆学院,北京,100081;北京理工大学机械与车辆学院,北京,100081 |
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| 基金项目： | 国家自然科学基金资助项目(51005019) |
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| 摘 要： | 为提高车道线识别算法在大曲率弯道下的识别性能,提出一种基于线性逼近的弯道识别方法.基于车道线先验知识,利用改进的局部逆透视变换和Hough变换对车道线进行初步提取.根据初步提取结果,对未知区域进行循环线性逼近并提取车道线边界点.通过最小二乘法利用B-样条曲线完成车道线拟合.实验证明,该算法对大曲率弯道的车道线识别具有较高的精确性.
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| 关 键 词： | 弯道识别 线性逼近 逆透视变换 Hough变换 |
| 收稿时间： | 2014/12/17 0:00:00 |
Novel Lane Curve Detection Method Using Linear Approximation |
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| WANG Bao-feng,QI Zhi-quan,MA Guo-cheng and CHEN Si-zhong.Novel Lane Curve Detection Method Using Linear Approximation[J].Journal of Beijing Institute of Technology(Natural Science Edition),2016,36(5):470-474. |
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| Authors: | WANG Bao-feng QI Zhi-quan MA Guo-cheng and CHEN Si-zhong |
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| Institution: | School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | In order to improve the performance of lane detection for curve road, a lane detection system was presented with a linear approximation method. Based on the priori knowledge of lane geometry, some initial edge points of the lane were extracted through inverse perspective mapping and Hough transformation. Considering the initial results, a method of linear approximation was applied to search the future lane edge points. Finally, the detected points were used to rebuild the lane according to a B-spline model using least square method. Test of this system shows a promising detection result for curve lanes. |
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| Keywords: | curve lane detection linear approximation inverse perspective mapping Hough transformation |
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