基于机器视觉的智能车辆障碍物检测方法研究.pdf

Vol119 No14 公 路 交 通 科 技 2002 8 JOURNAL OF HIGHWAY AND TRANSPORTATION RESEARCH AND DEVELOPMENT : 1002O0268 2002) 04O0126O04 李 斌, 王荣本, 郭克友 , 130025) : 着重阐述基于机器视觉的前方车辆障碍物检测方法首先根据公路上前方车辆的先验特征 型, 建立障碍物探测 的感兴趣区, 以缩小搜索区域; 随后提出一种新的对称变换算子, 用于检测障碍物车辆的对称轴, 并确定障碍物车辆的矩 形轮廓为进一步提高障碍物检测的实时性, 采用递归 板匹配法对障碍物进行跟踪试验表明上述方法是有效的 : 智能车辆; 机器视觉; 对称变换 : U49116 : A Study on Machine Vision Based Obstacle Detection and Recognition Method for Intelligent Vehicle LI Bin, WANG RongOben, GUO KeOyou Transportation College of J ilin University, Jilin Changchun 130025, China) Abstract: A leading vehicle detection and recognition method based on machine vision is mainly described in this paper. Firstly, in or- der to reduce the searching area, an area of interest AOI) for the obstacle is gotten based on the image contour detection and the priori knowledge of the leading vehicle on the road. Secondly, a new symmetry transform operator used to search for the symmetry axis of the leading vehicle in the image is proposed, and its the rectangle contour is obtained using the hough transform . Then the concept of sym- metry distance is introduced to validate the leading vehicle. Further more, in order to improve real time obstacle detection , a recursive template matching method is established to track the leading vehiclecs location in the image. The experiment results indicate its validity. Key words: Intelligent vehicle; Machine vision; Symmetry transform 1 ,