基于消失点的鲁棒反透视映射

Daiming Zhang, Bin Fang, Weibin Yang, Xiaosong Luo, Yuanyan Tang
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引用次数: 25

摘要

基于视觉的道路标志检测与识别已广泛应用于智能机器人和汽车自动驾驶技术。目前,采用一次性标定逆透视映射参数的方法消除了透视映射的影响,但对上坡和下坡道路的鲁棒性较差。提出了一种基于消失点的自动反透视映射方法,该方法在主路方向轻微旋转的情况下也能适应上坡和下坡道路。该算法由三个步骤组成:检测消失点、计算俯仰角和偏航角、采用反透视映射获得“鸟瞰”图像。实验结果表明,我们的反透视映射框架的适应性与现有最先进的方法相当,有利于后续道路标志的检测和识别。
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Robust inverse perspective mapping based on vanishing point
Vision-based road signs detection and recognition has been widely used in intelligent robotics and automotive autonomous driving technology. Currently, one-time calibration of inverse perspective mapping (IPM) parameters is employed to eliminate the effect of perspective mapping, but it is not robust to the uphill and downhill road. We propose an automatic inverse perspective mapping method based on vanishing point, which is adaptive to the uphill and downhill road even with slight rotation of the main road direction. The proposed algorithm is composed of the following three steps: detecting the vanishing point, calculating the pitch and yaw angles and adopting inverse perspective mapping to obtain the “bird's eye view” image. Experimental results show that the adaptability of our inverse perspective mapping framework is comparable to existing state-of-the-art methods, which is conducive to the subsequent detection and recognition of road signs.
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