农业机械学报2011，Vol.42Issue(10)：20-24,89,6.
复杂环境下自动导引车路径识别算法
Guidance Line Identification Algorithm for AGV in Complex Environment
摘要
Abstract
In order to quickly and accurately identify the guidance line in complex environment,a line recognition algorithm based on prior knowledge was proposed. Images were divided into several regions by field range and line characteristic. Both means of full image and region were used to make adaptive threshold of each region. Scanning mode was decided by information of previous image,then noises were filtered and intermediate points were acquired. An improved Hough transformation with search angle limitation and nonuniform sampling was applied to localize guidance line. Finally cross ratio theorem was used to calibrate the parameters. The experimental result showed the method was characterized by robustness and real-time,the average computing time was about 90 ms for each image.关键词
自动导引车/路径识别/Hough变换/图像处理Key words
Automated guided vehicle/Road recognition/Hough transformation/Image processing分类
信息技术与安全科学引用本文复制引用
蔡晋辉,才辉,张光新,周泽魁..复杂环境下自动导引车路径识别算法[J].农业机械学报,2011,42(10):20-24,89,6.基金项目
国家自然科学基金资助项目(50505045)、浙江省科技攻关重点项目(2006C21037)和浙江省自然科学基金资助项目(Y1110171) （50505045）
