| 基于低精度GPS的智能车视觉导航方法 |
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| 引用本文： | 梁昆,杨明,王春香,王冰. 基于低精度GPS的智能车视觉导航方法[J]. 上海交通大学学报, 2011, 45(2): 168-0172 |
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| 作者姓名： | 梁昆 杨明 王春香 王冰 |
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| 作者单位： | （上海交通大学a.自动化系； b.机器人研究所，上海 200240）
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| 基金项目： | 世博科技专项基金(10dz0581100); 教育部博士点基金(20070248097) |
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| 摘 要： | 针对室外环境提出了一种基于低精度GPS的视觉导航方法.采用多传感器融合的方法解决道路和路口的导航问题.对于路口环境，通过对道路标志（如人行横道线）的检测，实现路口的初定位；基于全局地图信息，采用扩展卡尔曼滤波融合GPS和里程计信息，进行路口导航.真实环境下的实验结果表明该方法，具有良好的有效性和实时性.
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| 关 键 词： | 智能车 视觉导航 道路检测 扩展卡尔曼滤波 路口定位 |
| 收稿时间： | 2010-06-02 |
Low Accuracy GPS and Vision Based Method for Intelligent Vehicle Navigation |
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| LIANG Kuna,YANG Minga,WANG Chun-xiangb,WANG Binga. Low Accuracy GPS and Vision Based Method for Intelligent Vehicle Navigation[J]. Journal of Shanghai Jiaotong University, 2011, 45(2): 168-0172 |
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| Authors: | LIANG Kuna YANG Minga WANG Chun-xiangb WANG Binga |
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| Affiliation: | LIANG Kun~a,YANG Ming~a,WANG Chun-xiang~b,WANG Bing~a(a.Department of Automation,b.Research Institute of Robotics,Shanghai Jiaotong University,Shanghai 200240,China) |
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| Abstract: | This paper proposed a visual navigation method for outdoor environment based on low accuracy GPS.Outdoor environment consists of intersections and roads.The navigation methods for the neatly-structured environment are not suitable for the environment with intersections.Thus,this paper applies a multi-sensor fusion method to navigation in the road intersections and the common roads' situation.For the intersection issues,preliminary location is conducted by intersection detection(such as zebra crossing).Then,... |
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| Keywords: | intelligent vehicle visual navigation road detection extended Kalman filter(EKF) intersection location |
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