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基于立体视觉平面单应性的智能车辆可行驶道路边界检测

郭春钊 山部尚孝 三田诚一

郭春钊, 山部尚孝, 三田诚一. 基于立体视觉平面单应性的智能车辆可行驶道路边界检测. 自动化学报, 2013, 39(4): 371-380. doi: 10.3724/SP.J.1004.2013.00371
引用本文: 郭春钊, 山部尚孝, 三田诚一. 基于立体视觉平面单应性的智能车辆可行驶道路边界检测. 自动化学报, 2013, 39(4): 371-380. doi: 10.3724/SP.J.1004.2013.00371
GUO Chun-Zhao, YAMABE Takayuki, MITA Seiichi. Drivable Road Boundary Detection for Intelligent Vehicles Based on Stereovision with Plane-induced Homography. ACTA AUTOMATICA SINICA, 2013, 39(4): 371-380. doi: 10.3724/SP.J.1004.2013.00371
Citation: GUO Chun-Zhao, YAMABE Takayuki, MITA Seiichi. Drivable Road Boundary Detection for Intelligent Vehicles Based on Stereovision with Plane-induced Homography. ACTA AUTOMATICA SINICA, 2013, 39(4): 371-380. doi: 10.3724/SP.J.1004.2013.00371

基于立体视觉平面单应性的智能车辆可行驶道路边界检测

doi: 10.3724/SP.J.1004.2013.00371
详细信息
    通讯作者:

    郭春钊

Drivable Road Boundary Detection for Intelligent Vehicles Based on Stereovision with Plane-induced Homography

  • 摘要: 道路检测是智能车辆及先进驾驶辅助系统(Advanced driver assistance systems, ADAS) 研究的关键问题之一.本文提出了一种基于立体视觉的可行驶道路区域与非道路区域间边界的检测方法. 该方法基于立体视觉平面单应性建立了一个隐马尔科夫模型(Hidden Markov model, HMM).针对该模型,我们应用Viterbi算法,并提出了一种巧妙的状态序列的观测概率函数,以寻找道路/非道路边界的最优状态序列. 实验结果证明了该方法在各种典型且复杂的实际道路场景中的有效性和鲁棒性.
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出版历程
  • 收稿日期:  2012-03-13
  • 修回日期:  2012-11-26
  • 刊出日期:  2013-04-20

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