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ID:33738355
大小:3.11 MB
页数:74页
时间:2019-02-28
《基于摄像机和激光雷达的车道检测与车辆识别技术分析》由会员上传分享,免费在线阅读,更多相关内容在行业资料-天天文库。
1、北京工业大学工学硕上学位论文-n.●ABSTRACT詈曼!皇!鼍!!!!!!曼詈苎!詈!鼍,Lm,d暑鼍皇暑皇曼鼍!!詈!鼍暑!皇鼍暑曼暑鼍曼!喜!鼍!!鼍皇!!!!曼!!曼詈苎詈鼍詈詈!詈暑詈葛詈詈ABSTPACTNowadays,intelligentvehicleswhicharedevotedtoenhancetrafficefficiencyandsafetyinurbanenvironmentaregivenmoreandmoreattention.Intelligentvehicleisacomprehensiveintellige
2、ntsystemwhichintegratesthefunctionofenvironmentperception,planninganddecision—making,drivingassistance,etc.Intelligentvehicle,whichrepresentsthedirectiontowardthedevelopmentoffuturevehicle,hasahighlyexpansiveapplicationprospect.Inthisdissertation,laneandvehiclerecognitiontech
3、nologies,whicharekeytechniquesforenvironmentperceptionofintelligentvehicle,arestudiedsystematically.乃emaincontentsofmydissertationareasfollows:Firstly,approachforcalibrationandregistrationoflaserradarandcameraisstudied.AfastandaccuratecalibrationmethodisadoptedtocalibratetheC
4、CDcameraSOastoacquiretheintrinsicandextrinsicparameters.Furthermore,aregistrationmethodforlaserradarandcameraisproposed.ThjSmethodrealizestheregistrationbetweenthelaserradarandthecamerathroughthecalibrationbroadwithhighprecision.Secondly,alanerecognitionmethodbasedonimprovedH
5、oughTransform(HT)isproposed.LaneisinitiallydetectedbyHTintheareaofpolarangleconstraints.Inlanetracking,regionofinterest(ROI)isestablishedaccordingtolastimageinformationandthentheROI—HTisusedintheROI.Forthecurve,bothoftheroadboundariesaregeneratedusingCatmull—RomSplinesbasedon
6、controlpointssearchalgorithm.Forvariouskindsoflanesonmoststructuralroad,experimentresultsindicatethatthemethodhasgoodreliability.Thirdly,thehostvehicle’yawangleandpositionrelationbetweenhostvehicleandleftorrightlaneisachievedbyInversePerspectiveTransformreal-timelyonthebasiso
7、ftheresultoflanerecognitionandcameracalibration.Finally,vehiclerecognitionmethodbasedonlaserradarandcameraisproposed.VehicleiSinitiallylocatedbasedontheprocessresultoffilterandclusteringoflaserradardata.Andthenthevehicleintheinitialareaisvalidatedbasedonvehicle’Simagefeatures
8、.Simulationplatformandrealcartest.bediSdevelopedtovalidatetheeffecti
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