计算机科学 ›› 2017, Vol. 44 ›› Issue (11): 305-313.doi: 10.11896/j.issn.1002-137X.2017.11.047
宣寒宇,刘宏哲,袁家政,李青,牛小宁
XUAN Han-yu, LIU Hong-zhe, YUAN Jia-zheng, LI Qing and NIU Xiao-ning
摘要: 机器视觉被广泛应用于智能汽车领域,车道线检测成为人工智能领域内的研究热点。为了得到更具鲁棒性的车道线检测效果,采用一种基于多条件约束的车道线特征滤波器,并提出了一种新的对车道线特征进行聚类的算法。运用卡尔曼滤波对车道线位置进行实时跟踪和预测;利用基于透视投影线性关系的车道线“位置-宽度”函数设置自适应动态ROI;另外,利用车道线的特点形成约束条件以获得更加稳定的检测效果。在真实道路环境下的实时检测结果表明,该算法鲁棒性强、实时性好,且具有稳定的检测效果。
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