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基于成像模型的车道线检测与跟踪方法

, PP. 96-102

Keywords: 交通工程,车道线检测与跟踪,成像模型,梯度贡献函数,Kalman滤波

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Abstract:

?针对结构化道路上存在非车道线标记干扰的情况,提出一种基于成像模型的线扫描车道线检测及跟踪方法。检测算法中首先对路面图像进行形态学高帽变换预处理,然后建立前方道路图像的成像模型,将图像坐标系中车道参数和世界坐标系中实际车道参数对应,对图像进行初扫描,利用边缘贡献函数及RANSAC算法选取最确定线后,以此线为标准进行二次扫描,得到边缘点后统计边缘贡献函数局部最大值并拟合成直线车道线。跟踪算法中运用Kalman滤波器预测车道线区域,并提取符合标准的控制点拟合成模型为B样条的车道线。试验结果表明:该方法能够快速准确地在复杂环境中提取多个车道线,尤其对存在非车道线道路标记干扰的情况有显著效果。

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