pso algorithm particle filters for improving the performance of lane detection and tracking systems in difficult roads粒子滤波器的粒子群优化算法对提高车道检测和跟踪系统的性能在艰难的道路.pdfVIP

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pso algorithm particle filters for improving the performance of lane detection and tracking systems in difficult roads粒子滤波器的粒子群优化算法对提高车道检测和跟踪系统的性能在艰难的道路.pdf

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pso algorithm particle filters for improving the performance of lane detection and tracking systems in difficult roads粒子滤波器的粒子群优化算法对提高车道检测和跟踪系统的性能在艰难的道路

Sensors 2012, 12, 17168-17185; doi:10.3390/s121217168 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article PSO Algorithm Particle Filters for Improving the Performance of Lane Detection and Tracking Systems in Difficult Roads Wen-Chang Cheng Department of Computer Science and Information Engineering, Chaoyang University of Technology, 168, Jifong E. Rd., Wufong District, Taichung 41349, Taiwan; E-Mail: wccheng@.tw; Tel.: +886-4-2332-3000 (ext. 5208); Fax: +886-4-2374-2375 Received: 9 August 2012; in revised form: 7 December 2012 / Accepted: 10 December 2012 / Published: 12 December 2012 Abstract: In this paper we propose a robust lane detection and tracking method by combining particle filters with the particle swarm optimization method. This method mainly uses the particle filters to detect and track the local optimum of the lane model in the input image and then seeks the global optimal solution of the lane model by a particle swarm optimization method. The particle filter can effectively complete lane detection and tracking in complicated or variable lane environments. However, the result obtained is usually a local optimal system status rather than the global optimal system status. Thus, the particle swarm optimization method is used to further refine the global optimal system status in all system statuses. Since the particle swarm optimization method is a global optimization algorithm based on iterative computing, it can find the global optimal lane model by simulating the food