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目 次
摘要 ∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙∙Ⅰ
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1 绪 论.................................................................................................................................1
1.1 研究背景.......................................................................................................................................1
1.2 国内外现状及发展趋势...............................................................................................................2
1.2.1 国内各高校发展情况.........................................................................................................2
1.3 本文研究的主要内容及结构安排...............................................................................................3
2 道路图像的预处理 ..........................................................................................................4
2.1 图像灰度化...................................................................................................................................4
2.2 边缘检测算法研究.......................................................................................................................5
2.2.1 基于一阶的边缘检测算子.................................................................................................6
2.2.2 基于二阶的边缘检测算子.................................................................................................8
2.2.3 Canny 算子原理和应用......................................................................................................9
2.2.4 实验结果...........................................................................................................................10
3 车道线识别及跟踪算法 ................................................................................................12
3.1 车道线直线模型.........................................................................................................................12
3.2 霍夫变换检测车道线.................................................................................................................13
3.2.1 霍夫变换原理...................................................................................................................13
3.2.2 霍夫变换实现...................................................................................................................14
3.3 Kalman 跟踪原理及实现............................................................................................................15
3.3.1 Kalman 滤波器与 Kalman 预测器原理............................................................................15
3.3.2 基于 kalman 预测测器的车道线 ROI 模型.....................................................................17
3.3.3 基于 Kalman 滤波的道路跟踪算法.................................................................................18
3.4 车道偏离检测.............................................................................................................................20
4 实验平台搭建与实验结果分析 ....................................................................................22
4.1 实验平台搭建.............................................................................................................................22
4.2 实验结果及分析.........................................................................................................................23
4.2.1 实验结果...........................................................................................................................23
4.2.2 实验结果分析...................................................................................................................25
5 总结与展望 ....................................................................................................................27
5.1 总结.............................................................................................................................................27
5.2 展望.............................................................................................................................................27
参考文献.............................................................................................................................29
作者简历..............................................................................................................................31
学位论文数据集..................................................................................................................32