微型机与应用2012，Vol.31Issue(17)：46-50,5.
基于特征模型的非结构化道路跟踪算法研究
Research on unstructured road tracking algorithm based on feature model
摘要
Abstract
An unstructured road tracking algorithm based on feature model is presented in view of the application requirement in vision-based navigation of autonomous mobile outdoor robot. It aims at improving the accuracy and robustness of tracking results. First of all, H-S-LBP feature model of road is built based on local binary pattern and color. Video sequences are prnjected by feature model which is turned into back-projection images, and they are segmented into road and background. Meanwhile, the feature model of road is updated by Kalman filtering. The system alternately executes back projecting and feature model updating in order to achieve unstructured road tracking. Applications show that the approach can track unstructured road precisely and is more adaptable to the environment. The discrimination of road edge is good. It also can be applied to practice in real time.关键词
非结构化道路/局部二值模式/HSV颜色空间/反向投影/道路跟踪Key words
unstructured road/local binary pattern/HSV color space/back projection/road tracking分类
计算机与自动化引用本文复制引用
胡旭,刘满禄,张华,桑瑞娟,丁华建..基于特征模型的非结构化道路跟踪算法研究[J].微型机与应用,2012,31(17):46-50,5.基金项目
绵阳市应用技术研究与开发项目 （）
