车道标线绘制机器人的图像处理与运动控制

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI:10.1109/IROS.1993.583289

S. Kotani, S. Yasutomi, X. Kin, H. Mori, S. Shigihara, Y. Matsumuro

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引用次数: 9

摘要

提出了一种利用图像处理技术检测和跟踪沥青路面上半褪色车道标记的方法。它保证了在实际户外环境中可靠的检测和高速跟踪。该方法基于车道标记模型与检测到的车道标记之间的模板匹配。作者建立了一个试验台机器人，旨在半自动地重新绘制半褪色的车道标记。介绍了该试验台机器人的具体设计和半褪色车道标记检测的实验结果。实验结果(机器人轨迹)表明了该方法的有效性。

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Image processing and motion control of a lane mark drawing robot

The authors propose a method for detecting and following a half-faded lane mark on an asphalt road using image processing. It ensures reliable detection and high speed following in the actual outdoor environment. The method is based on a template matching between a lane mark model and a detected lane mark. The authors built a testbed robot, which aims to repaint a half-faded lane mark semi-automatically. The details of this testbed robot and experimental results of a half-faded lane mark detection and following are described. Experimental results (trajectories of this robot) for a actual half-faded lane mark show the availability of this method.

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来源期刊

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

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