一种结合多特征的前方车辆检测与跟踪方法-计算机工程与应用.pdfVIP

220 2011 ，47 （5） Computer Engineering and Applications 计算机工程与应用 一种结合多特征的前方车辆检测与跟踪方法 1 1 2 张建明 ，张玲增 ，刘志强 1 1 2 ZHANG Jianming ，ZHANG Lingzeng ，LIU Zhiqiang 1.江苏大学 计算机科学与通信工程学院，江苏 镇江 212013 2.江苏大学 汽车与交通工程学院，江苏 镇江 212013 1.School of Computer Science and Telecommunication Engineering ，Jiangsu University ，Zhenjiang ，Jiangsu 212013 ，China 2.School of Vehicle and Transportation Engineering ，Jiangsu University ，Zhenjiang ，Jiangsu 212013 ，China ZHANG Jianming ，ZHANG Lingzeng ，LIU Zhiqiang.Approach to front vehicle detection and tracking based on multi- ple features.Computer Engineering and Applications ，2011 ，47 （5 ）：220-223. Abstract ：Vehicle detection is the premise of the automotive anti-collision warning.This paper presents a multi-feature-com- bined approach to improve the robustness of the vehicle detection in real-time.The approach dose not depend on the lane de- tection for it is based on the grads feature of the shadow which shows the candidate vehicle regions and it eliminates the noises of the corresponding area by the method of differential box counting.Then ，the accurate vehicle area can be located by analyzing the information of vehicle ’s horizontal edge feature in the candidate vehicle region.Finally ，Kalman filters are used to track the candidate vehicle which will be validated by normalized-mutual-information feature.The result of the experi- ment has shown that the method provides a robust approach ，which can effectively detect the front vehicles in complex traf- fic circumstances in real time. Key words ：vehicle detection ；grads ；differential box counting ；edge detection ；Kalman filter 摘 要：车辆检测是汽车防碰撞预警的前提，为了提高前方车辆检测的实时性和鲁棒性，提出一种结合多特征的前方车辆检测跟 踪方法。该方法不依赖车道检测，利用车底部阴影的梯度特征确定可能存在车辆的区域，使用差分盒子维计算对应区域的分形 维数来排除噪声，根据车辆的水平边缘特征信息精确定位，通过卡尔曼滤波器跟踪检测到的目标，利用归一化转动惯量做车辆验 证。实验结果表明，该方法能够在多种交通环境中实时有效地检测前方车辆。 关键词：车辆检测；梯度；差分盒子维；边缘检测；卡尔曼滤波