【作者】 陈连勇；

【导师】 陈坤杰； 刘德营；

【作者基本信息】 南京农业大学 ， 农业机械化工程， 2007， 硕士

【摘要】 基于我国目前道路划线车的现状，研究和开发智能化、高精度、稳定性好的划线车势在必行。而划线系统的快速精度定位，是开发智能化道路画线系统的关键。因此本文主要研究基于DSP机器视觉道路划线定位系统，主要的研究工作包括：1．研究图像预处理算法以及定位特征参数获取算法。在对图像进行前期处理过程中，采用图像的灰度化、平滑去噪、二值化处理、多次闭运算、边缘提取算法等组合，然后根据这些算法组合，对图像进行预处理，以利于特征参数的精确提取。另外，通过摄像机的标定、小孔成像原理、直线投影规律、Hough变换方法研究，获得道路边缘直线坐标参数。2．设计系统的软硬件平台。在硬件设计中，给出了主要的硬件电路图：视频采集显示模块、EMIF内存扩展模块、电源时钟复位模块、DSP通信模块等。软件设计包括应用软件和系统软件，应用软件负责实现系统的所用应用功能，而系统软件负责初始化硬件平台，为应用软件准备好系统环境。在系统软件设计中，定制了适合DSP硬件环境的操作系统DSP／BIOS，编写了视频采集显示驱动以及PCI驱动程序。在PC端，开发了基于WDM模型的PCI驱动程序。在应用软件设计中，DSP端，采用了TI公司的RF5参考框架构建应用程序；PC端，构建基于MFC的控制界面应用程序。最后的实验结果显示，本文提出的系统设计方案，无论是前期的算法组合方案还是软硬件平台方案，均达到了定位系统研究的要求，为进一步研究应用打下了坚实的基础。更多还原

【Abstract】 It is necessary to study and develop the lineation vehicle with intellectualization, high accuracy and good stability in the light of the present situation of the drawing vehicle of our country. The key technology is how the vehicle lineation system is located accurately and quickly. Therefore this study focuses on the positioning-system of the road-lineation based on machine vision. The main researching works is as following:1. The algorithms of image pre-processing were discussed and the characteristic parameters of positioning were determined. Image-gradation, smoothing, binarization "close" and withdrawing the edge algorithms were discussed and their combination was employed in the image pre-processing for the accurately extraction of characteristic parameters. In addition, the line coordinate parameters of the road-edge were obtained based on the calibration of camera, principle of pinhole model, the rule of linear projection and Hough transformation.2. The platform consisting of software and hardware was designed. In the design of hardware, the main circuits of hardware: the module of capturing and displaying, the module of EMIF memory expansion, the module of power, clock and reset, the module of DSP correspondence and so on were developed. The design of software includes the software of application and system. The application software is to realize the application function of the system, whereas the system software to initialize the system platform and prepare the environment of the system for the application software. DSP/BIOS of the operating system, which is adapt to the dsp-hardware environment, was customized in the process of designing system software. The drive programs about capturing and displaying device and PCI device were developed. The drive program of PCI based on the module of WDM was also written. In the design of the application program, RF5 of TI Corporation was used to develop the application program of the DSP and construct the control interface application program based on MFC.Experimental result showed that both algorithm combination and platform of software and hardware could meet the need of the preliminary research of this positioning system. These acquired achievements have built the solid foundation for the future application research.更多还原