上海交通大学学报

上海交通大学学报（自然版）

• 自动化技术、计算机技术 • 上一篇    下一篇

基于主动视觉的智能车道路跟踪方法

张宇腾a，杨明a，王春香b
  

  1. （上海交通大学 a.自动化系； b.机器人研究所， 上海 200240）
  • 收稿日期:2009-10-22 修回日期:1900-01-01 出版日期:2010-08-31 发布日期:2010-08-31

A Road Following System for Intelligent Vehicles Based on Active Vision

ZHANG Yutenga,YANG Minga,WANG Chunxiangb
  

  1. （a. Department of Automation; b. Research Institute of Robotics, Shanghai Jiaotong University， Shanghai 200240， China）
  • Received:2009-10-22 Revised:1900-01-01 Online:2010-08-31 Published:2010-08-31

摘要： 针对城市环境道路，将主动视觉方法应用于智能车的视觉导航中，重点解决急转弯情况下摄像头视野不足的问题.摄像机被安装在可旋转的云台上，根据道路和车体之间的相对位姿动态地调整云台目标角度.通过车辆与图像坐标系之间的对应关系，修正道路与车体之间的相对位姿.实验结果表明，与传统视觉方法相比，采用主动视觉方法的智能车实际行驶轨迹误差较小，丢失道路的次数较少.

关键词: 主动视觉, 随机Hough变换, 模糊控制, 摄像机标定

Abstract: The active vision method was used in the control of intelligent vehicles on urban environment roads to expand the field of view of onboard camera. The angle of the pan&tilt unit is set according to the relative position between the lane and the vehicle to keep the lane in the middle of the image. The corresponding relationship between the vehicle coordinate system and image coordinate system was analyzed and calculated in real time. The conclusion that the active vision system has a higher roadtracking accuracy and less imagelost rate is shown in the comparison experiments between the active vision system and the traditional vision system.

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