【摘要】：針對基于Hough變換或螺旋曲線模型的視覺軌道檢測方法存在的不足,本文提出了一種基于幾何約束的軌道提取方法.該方法利用攝像機和軌道平面之間的成像關系近似滿足單因矩陣的特點,利用逆透視映射(IPM)將輸入圖像轉換為Bird-view圖像,并采用一種改進的邊緣檢測方法進行邊緣檢測.然后將二值化的邊緣圖像在垂直方向上分割為多個區(qū)段,在每個區(qū)段上,利用先驗知識生成的系列模板圖像,對分段IPM圖像進行去噪處理和Chamfer距離變換后進行距離匹配檢測,將軌道檢測轉換為一個二維匹配搜索過程.在分段檢測結果的基礎上,進一步利用曲線擬合得到邊緣圖像中完整的軌道曲線方程.該曲線方程通過已知的單因矩陣轉換為原始圖像中的曲線描述,實現在原始圖像中的檢測和定位.實驗驗證了所提方法的可行性和可靠性.
[Abstract]:Aiming at the shortcomings of visual orbit detection method based on Hough transform or spiral curve model, a trajectory extraction method based on geometric constraints is proposed in this paper. In this method, the imaging relationship between camera and orbit plane is approximately satisfied with the characteristics of single factor matrix, the input image is converted into Bird-view image by inverse perspective mapping (IPM), and an improved edge detection method is used for edge detection. Then the binary edge image is divided into several sections in the vertical direction. On each section, the segmented IPM image is de-noised and the distance matching is detected after Chamfer distance transformation by using a series of template images generated by prior knowledge, and the orbit detection is transformed into a two-dimensional matching search process. Based on the piecewise detection results, the complete orbital curve equation in the edge image is obtained by curve fitting. The curve equation is transformed into the curve description in the original image by the known single factor matrix, and the detection and location in the original image are realized. The feasibility and reliability of the proposed method are verified by experiments.
【作者單位】： 北京交通大學電子信息工程學院;
【基金】：國家自然科學基金 國家科技支撐計劃項目 中央高校基本科研業(yè)務費專項資金~~
【分類號】：TP391.41;U216.3

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