REAL-TIME ROAD MARK FOLLOWING

被引：3

作者：

CHAPUIS, R

GALLICE, J

JURIE, F

ALIZON, J

机构：

[1] Laboratoire d'Electronique Equipe S.M.T.I., URA 830 du CNRS, Université Blaise Pascal

来源：

SIGNAL PROCESSING | 1991年 / 24卷 / 03期

关键词：

ROAD-FOLLOWING; COMPUTER VISION; AUTOMATICALLY GUIDED VEHICLES; REAL TIME; MOBILE ROBOT VISION;

D O I：

10.1016/0165-1684(91)90109-V

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

We present an original method for real time road mark following to be carried out on a motorway and based on a prediction-verification-dating principle. The prediction is made using a model including three dynamic parameters acting linearly, the road is assumed flat with a continuous lateral curve. Detection is based on the analysis of a few lines (< 10) of the image. On each line, a probability function allows a prediction of the width and position of the marking strip to be made. Updating uses the least squares method enabling a temporal smoothing of the vector of the model's parameters. Reliable results have been obtained on recorded motorway sequences taken at speeds reaching 130 km/h. Integration of the method was made on standard equipment without the need for a special processor.

引用

页码：331 / 343

页数：13

共 14 条

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