基于红外图像的道路识别算法研究

【作者】 孔颖军；

【导师】 唐振民；

【作者基本信息】 南京理工大学 ， 计算机应用技术， 2003， 硕士

【摘要】 智能车辆(Ⅳ)系统是近年来各国潜心研究的一个新领域，其中的视觉系统需要实时检测行驶环境，确定道路的边界，使得智能车辆能够全天候的在无人驾驶或操纵的情况下自主安全平稳的行驶。采用红外摄像机获取图像是该视觉系统常用的一种方法。因此，红外图像的道路识别成为智能车辆系统的一个研究重点。 本文主要阐述了红外图像处理中的若干算法，对如何有效的识别出道路作了一定的研究。本文主要从三个方面研究了若干图像处理的算法。第一，图像预处理方面。从点域、邻域到彩色域分别探讨了对图像的灰度拉伸、噪声平滑和突出边缘的锐化处理，并提出了一种基于伪彩色处理的灰度拉伸方法。第二，阈值分析方面。本文给出了直方图预处理技术以及基于直方图分析和灰度统计的自动阈值选取方法。第三，边缘检测方面。本文给出多种边缘检测方法，还给出了基于边缘候选点的曲线拟合方法和搜索边缘的启发式搜索方法。 本文将模糊数学的思想引入图像处理中，分别探讨并实验了模糊阈值分析和模糊边缘检测算法的应用。由于道路的复杂性，本文对道路作了一定的假设和推理，并将这些知识同各种算法结合起来，取得了一定的效果。更多还原

【Abstract】 Intelligent Vehicle (IV) System is a new field in which many countries research concentratively in recent few years. The vision system in it needs real-time checking the environment and confirming the boundary of the road, so that the intelligent vehicle rides automatically, steadily and safely without manual operation. Using infrared camera to acquire images is a common method of the vision system. So road recognition of infrared image becomes a research emphasis of Intelligent Vehicle System.The paper primarily explicates some algorithms about infrared image processing and that how to recognize road effectively. The paper researches some algorithms in three ways. First, in image pretreatment. The paper respectively discusses some methods of image processing about gray level stretch, image smoothness and image sharpness from point domain, neighborhood domain and color domain. And it puts forward a new method of gray level stretch based on fake color. Second, in threshold analyses. The paper gives the methods of histogram pretreatment and automatic threshold selection based on histogram and gray level statistic. Last, in edge detection. The paper gives many methods of edge detection and explains the methods of curve fitting based on edge points and heuristics search for road edges.The paper cites fuzzy mathematics to image precossing, also discusses and experiments with fuzzy threshold selection and fuzzy edge detection based on this idea. Because of complexity of roads, the paper makes certain hypothesis and deduction on the roads, and integrates the knowledge into kinds of algorithms, so that some results of road recognition have a good effect.更多还原