本文選題：無(wú)人駕駛車(chē)輛 + 三維激光雷達(dá)�。� 參考：《汽車(chē)技術(shù)》2017年06期

【摘要】：為實(shí)現(xiàn)無(wú)人駕駛車(chē)輛利用車(chē)載三維激光雷達(dá)提取道路可通行區(qū)域,提出了一種基于小波變換結(jié)合模糊線段擬合的道路分割提取方法。利用探測(cè)傾角聚類的方法分割激光雷達(dá)掃描線在地面上的投影,通過(guò)小波變換初步確定路沿和障礙物位置,再使用模糊線段的方法精確定位路沿和障礙物。試驗(yàn)結(jié)果表明,該方法具有較高的精度與實(shí)時(shí)性。
[Abstract]:A road segmentation and extraction method based on wavelet transform combined with fuzzy line segment fitting is proposed to realize road passable area extraction of driverless vehicles using vehicle-mounted 3D lidar. The projection of laser radar scanning line on the ground is divided by the method of detecting dip clustering. The position of road edge and obstacle is preliminarily determined by wavelet transform, and then the fuzzy line segment is used to accurately locate the road edge and obstacle. The experimental results show that this method has high accuracy and real-time performance.
【作者單位】： 武漢理工大學(xué)現(xiàn)代汽車(chē)零部件技術(shù)湖北省重點(diǎn)實(shí)驗(yàn)室汽車(chē)零部件技術(shù)湖北省協(xié)同創(chuàng)新中心;
【基金】：國(guó)家自然科學(xué)基金項(xiàng)目(51405359) 武漢理工大學(xué)自主創(chuàng)新研究基金項(xiàng)目(2016-zy-031)
【分類號(hào)】：TN958.98;U463.6
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本文編號(hào)：2016862