基于激光雷达距离图像的道路边缘检测与跟踪

计算机科学 ›› 2013, Vol. 40 ›› Issue (Z11): 405-408.

基于激光雷达距离图像的道路边缘检测与跟踪

王钤,郭丽,石航飞

中国兵器工业第58研究所军品部绵阳621000;中国兵器工业第58研究所数控部绵阳621000;中国兵器工业第58研究所数控部绵阳621000

出版日期:2018-11-16 发布日期:2018-11-16

Detecting and Tracking Edges of the Lane Based on Range Images

WANG Qian,GUO Li and SHI Hang-fei

Online:2018-11-16 Published:2018-11-16

摘要/Abstract

摘要： 论述了将激光雷达的距离图像信息用于道路检测和跟踪。首先将扫描点进行聚类分析对道路边缘进行检测和对所检测的边缘进行最小二乘直线拟合,在成功检测道路边缘后,利用Kalman滤波对道路边缘进行跟踪。实验证明该算法具有检测准确且鲁棒性好的特点。

关键词: 激光雷达,距离图像,道路边缘检测,道路边缘跟踪

Abstract: The range image of the laser scanner could be used to detect and track edges of the lane．By clustering and analyzing the scan points,edges of the lane could be detected,edges of the lane could be substituted by fitting lines through the least square algorithm．Based on the fitting lines,edges of the lane could be tracked by Kalman filter．Expe-rimental results show the accuracy and robust of the algorithm．

Key words: Laser scanner,Range image,Detecting edges of the lane,Racking edges of the lane

王钤,郭丽,石航飞. 基于激光雷达距离图像的道路边缘检测与跟踪[J]. 计算机科学, 2013, 40(Z11): 405-408. https://doi.org/

WANG Qian,GUO Li and SHI Hang-fei. Detecting and Tracking Edges of the Lane Based on Range Images[J]. Computer Science, 2013, 40(Z11): 405-408. https://doi.org/

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