基于单目视觉的横穿障碍物检测.pdf

第34 卷第2 期 东 北 大 学 学 报 ( 自 然 科 学 版 ) Vo l． 34，No． 2
2013 年 2 月 neusoft． com
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Abstract An algorithm for detecting obstacles crossing a vehicle’s path was proposed by using a
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monocular camera． According to the flat road assumption some pairs of feature points on the
ground were extracted based on the feature points’position constraints and properties under IPM
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inverse perspective mapping ． Then the ego-motion parameters were estimated from the feature
point pairs using iteratively reweighted least squares algorithm． The estimated parameters were
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used to compensate the rotational motion in the optical flow field of the image and the candidate
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points of the obstacle were marked in the road C-velocity space． Finally an obstacle region was
obtained by grouping and verifying these candidate points． The experimental results in various
scenes illustrate that the method pro