公路视觉导航中基于卡尔曼滤波器的3D运动参数估计

A Kalman Filter-based Estimation of 3D Motion Parameters in Dynamic Vision Navigation on the Road

本文通过对室外行驶车辆上的CCD摄像机所采集的长序列立体图像的处理与分析 ,研究基于卡尔曼滤波器的三维 (3D)运动参数估计方法 ,以实现公路视觉导航中车道线的自动检测与跟踪。

This paper researches on a Kalman filter based estimation of 3D motion parameters for dynamic vision navigation on the road by processing and analysing a long sequence stereo images of real road which are gathered on an autonomous vehicle driving outside.This paper presents also a modified Kalman filtering algorithm.