摘要
针对车道偏离检测中较难解决的车载摄像机标定问题,从分析摄像机成像模型入手,根据图像中3条或3条以上车道线的消失点位置以及车道线斜率关系,在道路现场调整摄像机安装位置,以实现对摄像机外部参数的直接设定,从而避开了繁琐的摄像机参数标定过程.同时,推导出图像内车道线斜率比与车道偏离程度的简单函数关系,该函数与摄像机内外参数无关.因此,行车过程中只需测量图像中车道线的斜率,即可计算出车辆当前的车道偏离量.现场试验结果表明,在车辆直行时采用该方法测得的车道偏离率与手工实测结果相比,其相对误差小于5%,具备了较高的检测精度.
To solve the calibration problem of camera in lane departure detection, the imaging model is analyzed and the installing position of camera can be adjusted according to the slope and vanishing point of three or more lane lines in the image. At the same time, external parameters of the camera are directly set without complicated calibration. Based on this, the relationship between lane depar- ture and the ratio of lane line＇s slope is concluded as a simple function which is unconcerned with the parameters of camera. Therefore, the quantity of lane departure can be calculated so far as this ratio is measured. Actual experiment result demonstrates that the precision of lane departure detection by this method is high, and the relative error is less than 5 % compared with manual measurement.
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2009年第5期933-936,共4页
Journal of Southeast University：Natural Science Edition
基金
江苏省汽车工程重点实验室开放基金资助项目(QC200603)
江苏省交通科学研究计划资助项目(06C04)
