车道跟踪算法 [英] Vehicle Lane Tracking Algorithm

问题描述

我正在开发一个应用程序，该应用程序使用摄像头检测不同表面上的车道线并跟踪它们，并最终为车辆(两轮机器人)提供方向，以使车辆停留在这两个线之间.到目前为止，我设法编写了程序，以便它接收彩色视频，并将其转换为黑白，并对边缘进行过滤，以便检测车道的边缘.我不知道从这里去哪里.有任何建议吗?

I am working on an application that uses camera(s) to detect while lane lines on different surfaces adn track them, and eventually give directions to the vehicle (two wheeled robot) so that the vehicle stays in between the lines. So far I managed to write the program so it takes color video feed and converts it to black and white, and filters the edges so it detects the edges of the lanes. I don''t know where to go from here. Any suggestions?

推荐答案

我同意Uffe Rask的观点，这听起来像是一个有趣的项目.现在，我对机器人(无论如何还是现代机器人)了解甚少，但是我在Google搜索了遵循机器人算法的线，并在我看来很受欢迎，这可能对他们有帮助.也许，如果您这样做(总是假设您还没有这样做)，您可能会发现可以适应的内容.

I agree with Uffe Rask, this sounds like an interesting project. Now, I know very little about Robots, modern ones anyway, but I googled for line following robot algorithm and got lots of hits that sounded to me like they might be of help. Perhaps if you do the same (always assuming that you haven''t already done so), you might find something that you can adapt.

您只需一台摄像机即可实现所需的功能.有一个旧的(约10年)DARPA(?)项目，该项目使用了人工神经网络来控制您所描述的转向.我的理学硕士论文(玩虚拟坦克"的游戏)受到了它的影响.

就像您描述的那样，进行视频馈送，然后将对比度增强为黑白.然后，您将白线作为梯形"的两个边缘结束.对神经网络进行了培训，使汽车保持在梯形的中央(这是最困难的部分).

这里有一个链接 http://society.kisti.re.kr/~Eksae /_notes/data/pdf/v3n2_5.pdf [ ^ ]

到类似的项目.

这将是一个有趣的项目！

You only need one camera to achieve what you want. There was an old (~ 10 - yrs) DARPA(?) project which used an artificial neural network to control the steering as you described. My MSc dissertation (a game playing virtual "tank") was influenced by it.

The basics were as you described, take the video feed, then whizz up the contrast to black and white. You then end up with the white lines as two edges of a "trapezoid". The neural network was trained so that the car was kept in the centre of the trapezoid (this is the hard part).

There is a link here http://society.kisti.re.kr/~Eksae/_notes/data/pdf/v3n2_5.pdf[^]

to a similar project.

This will be an interesting project!

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