Method based on monocular vision for detecting and roughly positioning edge of road
What is Al technical title?
Al technical title is built by PatSnap Al team. It summarizes the technical point description of the patent document.
An edge detection and monocular vision technology, applied in the fields of computer vision and pattern recognition, can solve the problems of low versatility, weak real-time performance and high sensor requirements for unstructured road recognition
Inactive Publication Date: 2012-09-19
TSINGHUA UNIV
View PDF3 Cites 116 Cited by
Summary
Abstract
Description
Claims
Application Information
AI Technical Summary
This helps you quickly interpret patents by identifying the three key elements:
Problems solved by technology
Method used
Benefits of technology
Problems solved by technology
[0009] Aiming at the problems that the visual algorithm of the mobile robot has high requirements on the sensor, weak real-time performance, and low versatility for unstructured road recognition, the invention proposes a road edge detection and rough positioning method based on monocular vision
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more
Image
Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
Click on the blue label to locate the original text in one second.
Reading with bidirectional positioning of images and text.
Smart Image
Examples
Experimental program
Comparison scheme
Effect test
specific example
[0182] Specific examples: such as Figure 8 , the image resolution is 768*576, take four points, the coordinates are (92,574), (230,437), (722,566), (572,432); set in the new coordinate system The coordinates are (304, 575), (304, 375), (464, 575), (464, 375). Use the cvWarpPerspectiveQMatrix function in openCV to find the inverse perspective projection transformation matrix. The input of the cvWarpPerspectiveQMatrix function is two matrices of 4X2. Each matrix is composed of the horizontal and vertical coordinates of 4 points, which are the coordinates before and after transformation. The obtained inverse perspective projection transformation matrix is:
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more
PUM
Login to view more
Abstract
The invention discloses a method based on monocular vision for detecting and roughly positioning the edge of a road, and relates to the field of machine vision and intelligent control. Aiming at a continuous road with different edge characteristics, two road edge detection methods are supplied and suitable for semistructured and nonstructured roads and can be applied to vision navigation and intelligent control over a robot. The invention provides a method for detecting the edge of the road based on colors and a method for detecting the edge of the road based on threshold value partitioning. On the basis of the obtained edge of the road, an image is subjected to inverted perspective projection transformation, so that a front view is transformed into a top view; and according to a linear corresponding relation between a pixel and an actual distance in the image, a perpendicular distance from the current position of the robot to the edge of the road and a course angle of the robot can be calculated. The method is easy to implement, high in anti-interference performance, high in instantaneity and suitable for the semistructured and nonstructured roads.
Description
technical field [0001] The invention relates to the field of computer vision, pattern recognition, mobile robot navigation technology and method. technical background [0002] An intelligent mobile robot is a complex system that includes multiple modules such as environmental perception, control decision-making, and path planning, and applies computer technology, information technology, robotics technology, and microelectronics technology. It generally integrates a variety of sensor technologies, including GPS, lidar, camera, ultrasonic, gyroscope, etc., and processes and fuses the perceived data to obtain robot positioning information and obstacle information ahead for walking planning and decision-making. Mobile robots are now widely used in military, medical, agricultural, industrial and other fields. Especially when encountering extreme environments and dangerous conditions, such as nuclear pollution, high pressure, deep sea, and even outer space, mobile robots can effe...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more
Application Information
Patent Timeline
Application Date:The date an application was filed.
Publication Date:The date a patent or application was officially published.
First Publication Date:The earliest publication date of a patent with the same application number.
Issue Date:Publication date of the patent grant document.
PCT Entry Date:The Entry date of PCT National Phase.
Estimated Expiry Date:The statutory expiry date of a patent right according to the Patent Law, and it is the longest term of protection that the patent right can achieve without the termination of the patent right due to other reasons(Term extension factor has been taken into account ).
Invalid Date:Actual expiry date is based on effective date or publication date of legal transaction data of invalid patent.
Login to view more 
Login to view more