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Method based on monocular vision for detecting and roughly positioning edge of road

An edge detection and monocular vision technology, applied in the field of pattern recognition and computer vision, can solve the problems of low versatility, weak real-time performance and high sensor requirements for unstructured road recognition

Inactive Publication Date: 2014-01-29
TSINGHUA UNIV
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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

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  • Method based on monocular vision for detecting and roughly positioning edge of road
  • Method based on monocular vision for detecting and roughly positioning edge of road
  • Method based on monocular vision for detecting and roughly positioning edge of road

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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 4×2. 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:

[0183] -0.291892 -1.36039 487.334

[0184] -0.0454482 -2.89973 1062.64

[0185] -0.000060317 -0.00356855 1

[0186] The image transformed by inverse perspective projection is obtained, and the original four points are basically four vertices of a square after inverse perspective projection transformation.

[0187] Si...

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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...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00G01C21/00
Inventor 王宏严润晨赵云鹏
Owner TSINGHUA UNIV
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