西安工业大学学报
西安工業大學學報
서안공업대학학보
JOURNAL OF XI'AN TECHNOLOGICAL UNIVERSITY
2015年
1期
39-44
,共6页
视觉导航%障碍物探测%激光辅助%深度信息
視覺導航%障礙物探測%激光輔助%深度信息
시각도항%장애물탐측%격광보조%심도신식
visual navigation%obstacle detection%laser-assisted%depth information
在智能车视觉导航系统中,为了能够快速精确地探测到智能车前方障碍物,并恢复出障碍物表面的三维信息,提出了一种基于激光辅助的主动探测方法。该方法首先用激光发射器向空间障碍物发射多线激光光条,然后用摄像机观测图像中光条的扭曲,线条断开的位置经过一定的三角几何计算就给出障碍物的尺寸信息。实验结果表明,该方法能够快速准确地探测到障碍物并恢复出其表面三维信息,具有很强的鲁棒性。
在智能車視覺導航繫統中,為瞭能夠快速精確地探測到智能車前方障礙物,併恢複齣障礙物錶麵的三維信息,提齣瞭一種基于激光輔助的主動探測方法。該方法首先用激光髮射器嚮空間障礙物髮射多線激光光條,然後用攝像機觀測圖像中光條的扭麯,線條斷開的位置經過一定的三角幾何計算就給齣障礙物的呎吋信息。實驗結果錶明,該方法能夠快速準確地探測到障礙物併恢複齣其錶麵三維信息,具有很彊的魯棒性。
재지능차시각도항계통중,위료능구쾌속정학지탐측도지능차전방장애물,병회복출장애물표면적삼유신식,제출료일충기우격광보조적주동탐측방법。해방법수선용격광발사기향공간장애물발사다선격광광조,연후용섭상궤관측도상중광조적뉴곡,선조단개적위치경과일정적삼각궤하계산취급출장애물적척촌신식。실험결과표명,해방법능구쾌속준학지탐측도장애물병회복출기표면삼유신식,구유흔강적로봉성。
In order to quickly and accurately detect the obstacles in front of intelligent vehicles and reconstruct the three-dimensional information of the obstacles’ surfaces ,a laser-assisted active detection method is put forward in this paper .First ,a laser emits mutiple laser lines to the obstacles in space ,and then a camera is used to observe the twisted lines in the image .The obstacle information is obtained by means of calculating the position of the broken lines with the triangle geometry relationship .The experimental results show that the method can detect obstacles and recover their surfaces’ three dimensional information quickly and accurately .It has strong robustness .