基于光栅投射与立体视觉融合的障碍物检测技术  

Obstacles detection technology based on the fusion of grating projection and stereo vision

作　　者：谢仲[1] 周兴林[2] 蒋难得[2] 孙倩[2] 

机构地区：[1]武汉科技大学信息科学与工程学院,武汉430081 [2]武汉科技大学汽车与交通工程学院,武汉430081

出　　处：《信息技术》2012年第4期19-21,24,共4页Information Technology

基　　金：国家自然科学基金项目(50978207);武汉市科技攻关计划项目(20110821235)

摘　　要：为实现智能车辆前方障碍物的快速准确检测,将光栅投射引入到双目立体视觉系统中,建立激光和视觉传感器融合的障碍物检测系统,将两种传感器的优势结合起来并填补单一传感器检测的不足。用双目立体视觉系统捕捉障碍物的轮廓信息,同时利用光栅投射技术对障碍物的局部信息进行调制,利用光栅投射出来的固定相位图像,可以快速实现立体视觉匹配中同名点的识别,能够较好解决立体视觉中图像配准的难题。To realize the fast accurate forward obstacle detection of the intelligent cars,this paper introduces the raster to stereoscopic binocular vision system,establishing the obstacle detection system with merging of both raser and vision sensors,which bands the advantage of both sensors and fills up the shortage of the single sensor detection.Using the stereoscopic binocular vision system to capture the outline of obstacles information,and at the same time using grating projection technology to adjust the partial obstacle information,with the fixed phase image projected out by grating projection,it can quickly recognize the cognominal points in the matching of stereoscopic vision,which can perfectly solve the difficulty of image registration in the stereoscopic vision.

关 键 词：多传感器融合 障碍物检测 双目视觉 光栅投射 立体匹配 

分 类 号：TP751[自动化与计算机技术—检测技术与自动化装置]