Direction guided optimization based vision navigation method

• Main Authors: Jiang Dejing, Sun Tao, Qin Lufang
• Format: Article
• Language: zho
• Published: National Computer System Engineering Research Institute of China 2018-02-01
• Series: Dianzi Jishu Yingyong
• Subjects: computer vision; active navigation; road edge detection; road mark detection; offset parameter
• Online Access: http://www.chinaaet.com/article/3000077643

In order to solve the problem of poor precision of active vision navigation in complex road conditions, a new direction guided optimization based vision navigation method is proposed. Firstly, the transformation equations of the vehicle physical coordinate system and the visual image coordinate system are established, and the detection of video image by Canny operator is proposed. Secondly, the shadow and water clutter on the detection performance interference is reduced based on the direction optimization, and the road sign line, inner and outer edge are accurately detected based on the generalized Hough transform threshold optimization. Finally, the center guide line for navigation, the deviation angle and the distance are calculated based on the test experiment. The experimental results show that the proposed method can effectively and accurately obtain the offset parameters of active navigation system.