Research And Design Of Positioning System Of The Road-Lineation Vehicle Based On Machine Vision With DSP

It is necessary to study and develop the lineation vehicle with intellectualization, high accuracy and good stability in the light of the present situation of the drawing vehicle of our country. The key technology is how the vehicle lineation system is located accurately and quickly. Therefore this study focuses on the positioning-system of the road-lineation based on machine vision. The main researching works is as following:1. The algorithms of image pre-processing were discussed and the characteristic parameters of positioning were determined. Image-gradation, smoothing, binarization "close" and withdrawing the edge algorithms were discussed and their combination was employed in the image pre-processing for the accurately extraction of characteristic parameters. In addition, the line coordinate parameters of the road-edge were obtained based on the calibration of camera, principle of pinhole model, the rule of linear projection and Hough transformation.2. The platform consisting of software and hardware was designed. In the design of hardware, the main circuits of hardware: the module of capturing and displaying, the module of EMIF memory expansion, the module of power, clock and reset, the module of DSP correspondence and so on were developed. The design of software includes the software of application and system. The application software is to realize the application function of the system, whereas the system software to initialize the system platform and prepare the environment of the system for the application software. DSP/BIOS of the operating system, which is adapt to the dsp-hardware environment, was customized in the process of designing system software. The drive programs about capturing and displaying device and PCI device were developed. The drive program of PCI based on the module of WDM was also written. In the design of the application program, RF5 of TI Corporation was used to develop the application program of the DSP and construct the control interface application program based on MFC.Experimental result showed that both algorithm combination and platform of software and hardware could meet the need of the preliminary research of this positioning system. These acquired achievements have built the solid foundation for the future application research.