基于線(xiàn)性ccd的行車(chē)引導(dǎo)線(xiàn)參數(shù)算法研究-畢業(yè)論文

1、I基于線(xiàn)性基于線(xiàn)性CCDCCD的行車(chē)引導(dǎo)線(xiàn)參數(shù)算法研究的行車(chē)引導(dǎo)線(xiàn)參數(shù)算法研究TheguidancealgithmbasedonlinearCCDtrafficguideline摘要摘要【摘要】【摘要】由于以線(xiàn)性CCD行車(chē)引導(dǎo)線(xiàn)為基礎(chǔ)的路徑識(shí)別是視覺(jué)導(dǎo)航的重要組成部分，所以最近幾年被很多國(guó)家所重視?；诰€(xiàn)性CCD的行車(chē)引導(dǎo)線(xiàn)參數(shù)算法是本論文的研究對(duì)象。開(kāi)始分析已經(jīng)存在的路徑類(lèi)型，然后將采進(jìn)的線(xiàn)性CCD路徑信號(hào)二值化并且通過(guò)像素個(gè)數(shù)的點(diǎn)大

2、小濾波，將邊緣點(diǎn)線(xiàn)性擬合求導(dǎo)。通過(guò)導(dǎo)數(shù)的變化趨勢(shì)來(lái)識(shí)別彎曲的路徑的類(lèi)型，通過(guò)判斷引導(dǎo)線(xiàn)是否連續(xù)來(lái)判斷是否是十字路口。【關(guān)鍵詞】【關(guān)鍵詞】線(xiàn)性擬合；二值化；像素點(diǎn)濾波；線(xiàn)性CCD。III目錄目錄1緒論.........................................................................................................................

3、......................11.1選題背景............................................................................................................................11.2選題意義..........................................................

4、..................................................................11.3未來(lái)發(fā)展............................................................................................................................21.4研究的內(nèi)容.............

5、...........................................................................................................21.5研究目標(biāo).........................................................................................................

6、...................22圖像信息采集...............................................................................................................................32.1圖像數(shù)據(jù)采集理論分析....................................................

7、................................................32.2圖像采集系統(tǒng)總體框架....................................................................................................32.2.1步進(jìn)電機(jī)傳動(dòng)裝置............................................

8、.....................................................42.2.2使用線(xiàn)性CCD傳感器的優(yōu)點(diǎn)分析.......................................................................52.3CCD工作原理................................................................

9、....................................................52.4CCD芯片主要性能參數(shù)....................................................................................................63基于MATLAB的圖像處理......................................

10、..................................................................931圖像的讀入......................................................................................................................932圖像預(yù)處理....................

11、..................................................................................................9321圖像灰度化處理.................................................................................................9322圖像濾波處理....

12、.................................................................................................93.3背景差法目標(biāo)檢測(cè)...........................................................................................................93.3

13、1目標(biāo)檢測(cè)與識(shí)別...................................................................................................93.32目標(biāo)檢測(cè)的試驗(yàn)結(jié)果分析...................................................................................93.33目標(biāo)檢測(cè)的用戶(hù)界面

14、設(shè)計(jì).................................................................................103.4目標(biāo)識(shí)別.........................................................................................................................103.41目

15、標(biāo)識(shí)別的作用.................................................................................................103.42跟蹤算法的分類(lèi)..................................................................................................103.43

16、引導(dǎo)線(xiàn)類(lèi)型識(shí)別結(jié)果分析.................................................................................104行車(chē)引導(dǎo)線(xiàn)圖像信息處理.........................................................................................................104.1.1概論

17、...............................................................................................................................104.1.2圖像濾波..................................................................................

18、.....................................104.1.3二值化處理...................................................................................................................114.1.4像素點(diǎn)濾波............................................

19、.......................................................................114.1.5行車(chē)引導(dǎo)線(xiàn)的提取.......................................................................................................134.1.6Canny邊緣檢測(cè)...............

20、.............................................................................................135行車(chē)引導(dǎo)線(xiàn)類(lèi)型識(shí)別.................................................................................................................16

21、5.1行車(chē)引導(dǎo)線(xiàn)的識(shí)別..........................................................................................................165.2直線(xiàn)................................................................................................

22、..................................175.3彎道..................................................................................................................................185.4小S彎道........................................

23、..................................................................................205.5十字路口..........................................................................................................................216總結(jié)和展

24、望.................................................................................................................................246.1總結(jié)...................................................................................