Patent
Intelligent vehicle obstacle avoiding method based on binocular vision
Li Dan,Zhang Xin,Zhang Meng +2 more
TLDR
In this paper, an intelligent vehicle obstacle avoidance method based on binocular vision and fuzzy recognition is presented, where a fuzzy controller is built according to the three-dimensional information of the obstacle, and the vehicle is guided to avoid the obstacle automatically.Abstract:
The invention discloses an intelligent vehicle obstacle avoiding method based on binocular vision and belongs to the field of computer vision technology and fuzzy recognition. The intelligent vehicle obstacle avoiding method includes that a left video camera and a right video camera are calibrated in a binocular mode, a relation between a video camera image coordinate system and a scene coordinate system is obtained, and the left video camera and the right video camera are used for collecting a scene in front of a vehicle; distortion and epipolar rectification are conducted on two images, feature points of the images are extracted, and feature vector indication is conducted on the feature points of the images; stereo matching is conducted according to the feature vector, an initial matching dot pair is obtained according to the feature vector, false matching dot pairs are removed, and a correct matching dot corresponding relation is built; according to the correct matching dot pairs, a disparity map is obtained through calculation, and three-dimensional real information of an obstacle is recovered according to the disparity map; and a fuzzy controller is built according to the three-dimensional information of the obstacle, and the vehicle is guided to avoid the obstacle automatically. By means of the intelligent vehicle obstacle avoiding method, the shape of the obstacle and the distance between the obstacle and the vehicle can be detected correctly, and experiments show that the method is good in real-time performance and high in obstacle avoiding rate.read more
Citations
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References
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Patent
Traveling control device for vehicle
Takeshi Sugano,健 菅野 +1 more
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