摘要
道路检测是室外移动机器人尤其是智能汽车研究领域的一个重要课题。本文介绍了多功能室外移动机器人THMR-V的道路检测算法,共分为两个部分。结构化道路,采用的是多窗口双阈值法。虽然在该领域已经有许多能够自主驾驶的系统,但很少能有像THMR-V达到150km/h;非结构化道路,采用的则是基于数学形态学的区域分割法。文中详细介绍了算法的实现。
Road Detection is one of the most important subjects in the field of outdoor mobile robot especially intelligent car. The algorithm of road detection on THMR-V, a multifunctional intelligent outdoor mobile robot, is introduced. There are two parts included. For structured road, the multi-region bi-threshold edge extraction algorithm is adopted. Although many systems have been developed which can drive automously in this field, little can perform with a speed up to 150km/h just like THMR- V; for unstructrued road, the rigion segmentation algorithm based on the theory of mathematical morphology is adopted. The realization of the algorithm is presented in detail.
出处
《微计算机信息》
北大核心
2005年第12Z期115-117,共3页
Control & Automation
基金
国家"863"项目(2002AA420110-3).
