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基于多特征融合的道路理解方法

, PP. 176-183

Keywords: 汽车工程,道路环境理解,道路信任函数,粒子对滤波,概率Hough变换

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Abstract:

?针对单目视觉技术的道路理解算法难以在效率和鲁棒性间达到平衡的问题,提出一种基于多特征信息融合、优化的道路理解算法;算法在初始化阶段,融合边界消失点、路面消失线和车速信息,分别提出基于最小风险函数的道路区域分割算法;在道路识别阶段,首先使用方向随动滤波器对图像进行预处理,然后融合道路方向、边界平行度、像素灰度和其他先验知识,构造车道置信度函数,采用概率Hough变换提取道路边缘;在道路跟踪阶段,提出基于粒子对滤波的道路跟踪算法,对道路进行跟踪。测试结果表明:该方法在结构化道路环境中可以快速准确提取车道线,并且对典型道路干扰具有很好的免疫作用。

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