计算机与数字工程2024，Vol.52Issue(2)：611-615,5.DOI:10.3969/j.issn.1672-9722.2024.02.055
非结构化道路条件下单目视觉实时测距研究
Research on Monocular Vision Real-time Ranging Under Unstructured Road Conditions
沈平 1杨国平1
作者信息
- 1. 上海工程技术大学机械与汽车工程学院 上海 201620
- 折叠
摘要
Abstract
In order to improve the safety of intelligent vehicles,autonomous driving vehicles can effectively prevent collision in off-road conditions.In this paper,the distance measurement method of the front object by the monocular camera in the sensing system is studied to improve the safety performance of vehicles on unstructured roads.For the calibration of the monocular camera,the mathematical model based on the calibration method of two vanishing points is adopted,the pinhole perspective model is used to image,and the single frame static image ranging model is used to calculate the distance between the front object and the car,and the RANSAC algorithm,Prescan and Simulink are used to enhance the stability of the image for simulation tests.Finally,the real-time distance measurement test of real-vehicle in non-road condition is carried out.The test results show that the camera can carry out real-time ranging under the condition of non-road driving.关键词
智能驾驶/单目摄像/非结构化道路/实时测距Key words
intelligent driving/monocular camera/unstructured road/real-time ranging分类
信息技术与安全科学引用本文复制引用
沈平,杨国平..非结构化道路条件下单目视觉实时测距研究[J].计算机与数字工程,2024,52(2):611-615,5.
