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本文通过对室外行驶车辆上的CCD摄像机所采集的长序列立体图像的处理与分析 ,研究基于卡尔曼滤波器的三维 (3D)运动参数估计方法 ,以实现公路视觉导航中车道线的自动检测与跟踪。本文还阐述了一种扩展的卡尔曼滤波算法
Based on the processing and analysis of long sequence stereo images collected by CCD cameras on outdoor vehicles, this paper studies the method of three-dimensional (3D) motion estimation based on Kalman filter to realize the automatic detection of lane lines in highway visual navigation and track. This paper also describes an extended Kalman filter algorithm