CAJ | 학술논문

通过构建6自由度车载单目摄像头测距模型，实现了摄像头任意方位变换下车辆前方道路信息的三维重建。同时考虑摄像头的5个畸变参数，可消除由于畸变引起的测距误差。提出一种基于地平线位置的标定方法，在非车载情况下完成了对摄像头的标定，给出了一种利用道路消失点计算道路坡度和车辆偏航角的方法。试验结果表明，所提测距模型和标定方法具有良好的精度和可操作性。
통과구건6자유도차재단목섭상두측거모형，실현료섭상두임의방위변환하차량전방도로신식적삼유중건。동시고필섭상두적5개기변삼수，가소제유우기변인기적측거오차。제출일충기우지평선위치적표정방법，재비차재정황하완성료대섭상두적표정，급출료일충이용도로소실점계산도로파도화차량편항각적방법。시험결과표명，소제측거모형화표정방법구유량호적정도화가조작성。
A 6-DOF mono-vision based camera ranging model is constructed to achieve the three-dimensional reconstruction of the road ahead of vehicle under arbitrary transformation of the camera. Meanwhile, five distortion parameters of the camera are taken into account to eliminate the ranging error caused by distortion. Then, in order to calibrate the off-board camera, a calibration method based on the location of horizon is proposed, and a method for calculating the road gradient and vehicle yaw angle through the location of road vanishing point is proposed. Experimental results indicate that the ranging model and calibration method are of good accuracy and operability.