基于单目摄像头的车辆前方道路三维重建Three-dimensional Reconstruction of the Road Ahead of Vehicle Based on Mono-vision
许宇能;朱西产;马志雄;李霖;
摘要(Abstract)：
通过构建6自由度车载单目摄像头测距模型,实现了摄像头任意方位变换下车辆前方道路信息的三维重建。同时考虑摄像头的5个畸变参数,可消除由于畸变引起的测距误差。提出一种基于地平线位置的标定方法,在非车载情况下完成了对摄像头的标定,给出了一种利用道路消失点计算道路坡度和车辆偏航角的方法。试验结果表明,所提测距模型和标定方法具有良好的精度和可操作性。
关键词(KeyWords)： 先进驾驶辅助系统;单目视觉;测距;标定;三维重建
基金项目(Foundation):
作者(Authors): 许宇能;朱西产;马志雄;李霖;
参考文献(References)：
- 1 Stein G P,Mano O,Shashua A.Vision-based ACC with a single camera:bounds on range and range rate accuracy:Intelligent Vehicles Symposium,2003.Proceedings.IEEE,2003.
- 2 Ponsa D,Lopez A,Lumbreras F,et al.3D vehicle sensor based on monocular vision:Intelligent Transportation Systems,2005.Proceedings.2005 IEEE,2005.
- 3 郭磊,徐友春,李克强,等.基于单目视觉的实时测距方法研究.中国图象图形学报,2006,11(1):74~81.
- 4 Jianzhu C,Fuqiang L,Zhipeng L,et al.Vehicle localisation using a single camera:Intelligent Vehicles Symposium(IV),2010 IEEE,2010.
- 5 Zhengyou Z.A flexible new technique for camera calibration.Pattern Analysis and Machine Intelligence,IEEE Transactions on,2000,22(11):1330~1334.
- 6 于仕琪,刘瑞祯等译.学习OpenCV.北京:清华大学出版社,2010:353,421,437.
- 7 Bouguet J.(2004,October)Camera calibration toolbox for matlab.MRL-Intel Corp.vailable:http://www.vision.caltech.edu/bouguetj/calib_doc/.
- 8 Stein G P,Mano O,Shashua A.A robust method for computing vehicle ego-motion:Intelligent Vehicles Symposium,2000.IV 2000.Proceedings of the IEEE,2000.