基于双目视觉的前车深度信息检测-控制理论与控制工程专业论文.docxVIP

Title: Detectlon Oepth Infl Blnocular VI.lon r rw Major: Control theory and control .ngln..rln Name: Xiaoplng Qlu Supervisor: Prof. Xlaohul Zhang Lecturer .Qlng Llu Slgnatu阳 CfIILj_比 Abstract Intelligcnt Drivcr-八ssistancc and Safcty Warning systcm (IDASWs) had become an important research ficld in domestic and forcign intclligcnt transportation system. Among them how to efTcctivcly detect the vchicle in front ofthe information and timely remind the driver t avoid the coJlision. This paper studied the problem that was the depth ofthe front vehicl detection based on binocular stereo vision，The main is as follows: The Calibration ofthe Binocular Cameras System. It solved calibration parameters by used linear calibration method and other methods Lane Detection and VehicJe Identification. After processed the image by Correction. gray，filtering，image enhancement and threshold segmentation etc.ηlis paper extracted lane and identified the target vehicle. Binocular Stereo Matching and Depth Extraction. It achieved binocular stereo matching and extracting depth information vehicle in front based on 由 identification. Construction of experimental plat岛rm and all methods ofimplementati， Keywords: Camera calibration; the vehicle shadow; d句也 目 目 录 西安理 西安理工大学硕士学位论文 HYPERLINK \l _bookmark0 1 绪论 1 HYPERLINK \l _bookmark1 1.1 选题的背景及意义 1 HYPERLINK \l _bookmark2 1.2 驾驶辅助系统的车辆测距技术 2 HYPERLINK \l _bookmark3 1.3 视觉测距的国内外研究现状 3 HYPERLINK \l _bookmark4 1.4 论文的内容与结构安排 4 HYPERLINK \l _bookmark5 1.4.1 研究的主要内容 4 HYPERLINK \l _bookmark6 1.4.2 本文的章节安排 4 HYPERLINK \l _bookmark7 2. 基于双目视觉的标定算法 7 HYPERLINK \l _bookmark8 2.1 摄像机的成像模型 7 HYPERLINK \l _bookmark9 2.1.1 摄像机成像的基本原理 7 HYPERLINK \l _bookmark10 2.2 摄像机的标定 9 HYPERLINK \l _bookmark11 2.2.1 典型摄像机的标定方法 9 HYPERLINK \l _bookmark12 2.2.2 标定物的选取 10 HYPERLINK \l _bookmark13 2.2.3 单目摄像机内外参数的求取 11 HYPERLINK \l _bookmark14 2.3 双目立体视觉的标定 14 HYPERLINK \l _bookmark15 2.3.1 标定过程 14 HYPERLINK \l _bookmark16 2.4 本章小结 15 HYPERL