上海交通大学学报

上海交通大学学报（自然版） ›› 2013, Vol. 47 ›› Issue (07): 1077-1081.

• 自动化技术、计算机技术 • 上一篇    下一篇

一种基于环视相机的自动泊车方法

王旭东a，王春香a，杨明b，王冰b   

  1. (1. 上海交通大学 a. 机器人所， b. 系统控制与信息处理教育部重点实验室，上海 200240)
  • 收稿日期:2012-10-09 出版日期:2013-07-30 发布日期:2013-07-30
  • 基金资助:

    国家自然科学基金重大研究计划培育项目（91120002），国家高技术研究发展计划(863)项目（2011 AA040901）

Automatic Parking Based on Bird’s Eye View Cameras

WANG Xudonga,WANG Chunxianga,YANG Mingb,WANG Bingb
  

  1. (a. Research Institute of Robotics, b. Key Lab of System Control and Information Processing, Ministry of Education, Shanghai Jiaotong University, Shanghai 200240, China)
  • Received:2012-10-09 Online:2013-07-30 Published:2013-07-30

摘要：

针对泊车摄像头视场有限的问题，提出了一种基于环视相机的自动泊车方法.采用4个鱼眼摄像头，构建了一种环绕车身360°的实时视觉泊车辅助系统，用于停车位的实时检测和识别.首先，运用多项式鱼眼校正模型校正失真图像，用Levenberg-Marquardt算法求得最优的缝隙拼接方向并合成环视图；其次，采用Radon变换提取停车位特征识别停车位；最后，使用基于双圆弧的路径规划算法和基于预瞄点的改进PID路径跟踪算法，实现自动泊车.实验表明，该方法具有较高的检测精度和鲁棒性.
 

关键词: 自动泊车, 停车位检测, Radon变换, 环视

Abstract:

This paper proposed an automatic parking method for the robust, real-time detection and recognition of parking space. By using four on-board fisheye cameras around the vehicle, the bird’s eye view vision system can provide the omnidirectional information of the environment for parking. First, the polynomial fisheye distortion model based method was used to calibrate the cameras, and the image mosaicing method based on the LevenbergMarquardt Algorithm was adopted to combine the four individual images into one. Secondly, the Radon transform based method was employed to extract features of the parking space in the radon space. Finally, the double circular trajectory planning and the preview control strategy were proposed to park the vehicle autonomously. Experimental results show that the proposed method works effectively and robustly in real-time for both automatic parking and parking space recognition.
 

Key words: automatic parking, parking space detection, Radon transform, bird’s eye view

中图分类号: