基于图像测距的汽车防撞系统关键技术研究  

Key technology research of car collision avoidance system based on image distance measurement

作　　者：高宏伟[1,2] 王辉[1] 刘玉影 于洋[1] Gao Hongwei Wang Hui Liu Yuying Yu Yang(School of Automation and Electrical Engineering, Shenyang Ligong University, Shenyang 110159, China State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China)

机构地区：[1]沈阳理工大学自动化与电气工程学院,沈阳110159 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016

出　　处：《电子测量与仪器学报》2017年第6期820-826,共7页Journal of Electronic Measurement and Instrumentation

基　　金：辽宁省自然科学基金(201602652);机器人学国家重点实验室开放课题(2016008)资助项目

摘　　要：针对汽车防碰撞系统的问题,以图像测距技术为背景,对其中的关键技术进行了研究。首先,根据相对运动学原理,由图像测距实验平台在假定沿光轴方向移动采集图片,在此基础上运用改进的SIFT匹配算法对图像进行匹配获得匹配点,计算所得到的匹配点的世界坐标,从而获得距离值;其次,通过室内实验计算证明了所推导的测距原理的正确性;最后,将图像测距技术应用在汽车防碰撞系统中,实验结果证明,测距系统平均误差为8.507 7 mm,精度较高,验证了整个方案的可行性和有效性。The key technologies which based on the technology of image based distance measurement are researched for the avoidance of automobile collision. Firstly,according to the principle of relative motion and assume that the image distance measurement test-bed is moved to collect images along the direction of the optical axis,and then the improved SIFT matching algorithm which is well used for image matching to obtain matching points. The world coordinates of the matching points are calculated to obtained distance value.Secondly,the validity of distance measurement principle is demonstrated by experiments. Finally,the image based distance measurement technology is applied into the automobile collision avoidance system. The error average of measurement system is 8. 507 7 mm,the practicability and validity of the whole theme are proved by experiment results.

关 键 词：图像测距 SIFT 匹配 汽车防撞 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]