摘要
讨论了用于地面自主车(ALV)视觉导航的红外道路图像的特点,论述了红外道路图像的预处理策略和方法,分析了一些常用的图像处理方法在处理红外道路图像时的缺陷,指出由于温差的渐变性,红外道路图像的路边检测特别适合使用阈值穷举法,并给出了在温度渐变的路边上边缘强度的求取方法和使用二阶微分算子得到边界线段的精确位置的方法。同时使用了边缘信息和灰度信息来提取道路边界信息,阈值穷举法和二阶微分算子得到的道路边界线段相互融合,得到候选的道路边界线段,在ALV的实际应用中取得了很好的效果。
A novel method was presented to detect road boundary in infrared image for Autonomous Land Vehicle （ALV） navigation in this paper.The characteristics of road infrared image were discussed in detail and the shortcomings of normal image processing methods used in road CCD image were pointed out. Because of the gradual change of temperature, the consecutive threshold technique was adopted to obtain segmentation results and calculate the gradient intensity. A new strategy combined edge and gray scale information was proposed to extracte road boundary edges and candidate boundaries. This strategy has been applied to ALV navigation and poven practical.
出处
《红外与激光工程》
EI
CSCD
北大核心
2006年第1期106-110,116,共6页
Infrared and Laser Engineering
