基于机器视觉的乡村道路跟踪方法研究
关键词 自然道路边界检测 消失点 Gabor滤波 模糊C均值聚类 Hough变换
毕业设计说明书（论文）外文摘要
Title The Research Of The Country Roads Following Methods Based On Machine Vision
Abstract
This paper proposed a natural boundary detection method for semi-structured and unstructured road. Because of the perspective projection transformation occurred in the camera imaging process, the natural road boundary in the image is always intersect at the vanishing point in the distance which can play an important role in the positioning of the road boundary, the paper first uses a fast oriented Gabor filters and a robust voting mechanism to find the location of the vanishing point to determine the main road direction and the interested road area; for the interested road area, we use a segmentation method based on fuzzy C-means clustering(FCM) to segment the road area, then we can get the boundary of the road; finally, we can get the reliable road boundary to combine the gradient information, that is combining the segmented road boundary and the gradient image obtained by Sobel operator, using the Hough transform to draw the straight line of the main direction of the road boundary, screening out the effective border point, and then using the Bezier curve method to fit the final road boundary. After the testing of a large number of real road images show that this method has some robustness, but real time is still inadequate, because of the slower of the FCM clustering.
Keywords：Natural road boundary detection; Vanishing point;
Gabor filtering; Fuzzy C-means clustering; Hough transform
目 次
1 绪论 1
1.1 背景与意义 1
1.2 国内外的研究现状 2
1.3 本文的主要工作和创新点 4
1.4 本文的结构安排 5
2 消失点检测 6
2.1 Gabor变换 7
2.2 投票机制 9
2.3 消失点的确认 10
3 道路分割 12
3.1 FCM聚类 12
3.2 基于FCM的道路图像分割 14
4 道路边界提取 18
4.1 基于抽样的兴趣区域提取 18
4.2 基于小波变换的图像抽样 19
4.3 道路边界提取 20
5 道路跟踪系统 24
5.1 软硬件环境和系统结构 24