车辆有线引导的计算机视觉系统

根据车辆自动引导系统在车辆工程中的应用及发展趋势，开展了用计算机视觉技术进行车辆有线引导的基础研究，描述了系统的基本组成及其主要功能，分析了影响视觉输入的各项基本因素。根据哈夫（Ｈｏｕｇｈ）变换的基本原理，设计了引导路线检测的算法，通过典型引导路线特征图象的试验分析，验证了算法对直线特征的检测性能、对复杂背景下直线检测的可靠性和对实际道路中的中心引导线检测的有效性。分析了控制模型中实用视觉系统检测

Computer Vision in Line Guided Vehicle System

In the sight of the developing trend of automated guided vehicle system, a fundamental research on the line guided vehicle system with computer vision is carried out experimentally. In this paper, the general constitution of the system and the main function of each part are presented. The basic factors which influence the image capture and processing in the computer vision system are analyzed. The algorithm of detecting the guiding line is designed according to the principle of Hough Transform. The effectiveness and robustness of the algorithm for detecting the guiding line on complex background and on the real road are verified by analysis with typical images. The control parameters concerning the image processing are analyzed.