發(fā)布時(shí)間：2019-07-18 18:11

【摘要】：倒車(chē)引發(fā)的交通事故是主要的城市交通安全隱患之一,本文針對(duì)倒車(chē)安全及障礙物檢測(cè)中傳統(tǒng)機(jī)器視覺(jué)倒車(chē)圖像存在失真,以及距離感知精度低的問(wèn)題,提出了一種基于雙目立體視覺(jué)的倒車(chē)環(huán)境障礙物測(cè)量方法.首先根據(jù)雙目標(biāo)定理論獲取攝像頭內(nèi)、外參數(shù)并分析攝像頭畸變情況,使用標(biāo)定參數(shù)對(duì)雙目圖像進(jìn)行校正,運(yùn)用極線約束使雙目圖像平行共面,通過(guò)雙目圖像視差和三角測(cè)量原理獲取圖像中各目標(biāo)的實(shí)際坐標(biāo),利用固定單一物體計(jì)算測(cè)量距離與實(shí)際距離間的誤差,進(jìn)行雙目立體視覺(jué)倒車(chē)障礙物檢測(cè)測(cè)量有效性研究.實(shí)驗(yàn)結(jié)果表明:攝像機(jī)橫坐標(biāo)與實(shí)際測(cè)量距離基本吻合,圖像校正結(jié)果比較理想,圖像共面且極線對(duì)齊,能有效檢測(cè)出后方障礙物,并有效提高倒車(chē)環(huán)境感知能力和倒車(chē)安全性能.
[Abstract]:Traffic accident caused by reverse car is one of the main hidden dangers of urban traffic safety. Aiming at the distortion of traditional machine vision reverse image in reverse safety and obstacle detection, as well as the low precision of distance perception, a method of obstacle measurement in reverse environment based on binocular stereo vision is proposed in this paper. Firstly, according to the binocular calibration theory, the internal and external parameters of the camera are obtained and the camera distortion is analyzed. The calibration parameters are used to correct the binocular image, the polar line constraint is used to make the binocular image parallel and coplanar, the actual coordinates of each target in the image are obtained through the parallax and triangulation principle of the binocular image, and the error between the measured distance and the actual distance is calculated by using a fixed single object. The effectiveness of binocular stereo vision reverse obstacle detection and measurement is studied. The experimental results show that the transverse coordinates of the camera are in good agreement with the actual measured distance, and the image correction results are ideal. The image coplanar and polar line alignment can effectively detect the rear obstacles, and effectively improve the reverse environmental perception ability and reverse safety performance.
【作者單位】： 西南交通大學(xué)交通運(yùn)輸與物流學(xué)院;西南交通大學(xué)機(jī)械工程學(xué)院;中國(guó)電子科技集團(tuán)第三十二研究所;
【基金】：國(guó)家自然科學(xué)基金項(xiàng)目(51175443,61271341)~~
【分類(lèi)號(hào)】：U463.6

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