Research On The Method Of Space Obstacle Detection Based On The Structured Light Projection

In visual navigation systen for an intelligent vehicle, the key is that how to quickly and accurately detect the obstacles in front of the intelligent vehicle, and restore the 3D information of the obstacle surface. The active structured light projection technology combine machine vision technology, triangle ranging technology.and image processing.etc, so the method not only used the intuitive characteristics of passive methord,but also adopt the active method which adds a recognizable feature.The thesis improved the linear structured light measurement technology, so that it can be applied to the special environment of intelligent vehicle navigation,and it can complete the task of the real-time detection.The main content of the thesis is that the intelligent vehicles could achieve the vision navigation using the method of the structured light projection based on principle of the optical triangulation. First of all, set up experimental platform of the obstacle detection system based on structured light, established the mathematical model.Second, demarcate the system, including of the camera dynamic calibration According to the characteristics of the intelligent vehicle real-time motion and structured light calibration. Then, transfer the target image including article light from RGB to HSV space and extract the article light.and to deal with the image using the method of image de-noising and morphological processing.the light strip center is located at sub-pixel with the method of threshold method combine center of gravity method.Then output the processing data, and calculate the 3D information of surface of the obstacle according to the Mathematic Model. Finally, describe the obstacle space distribution, to realize the path planning with Ant Colony Algorithm.In this thesis, control structure light projection with the mobile Intelligent vehicle model, scan and detect obstacles with the camera moving,and get the image information quickly.process image by using MATLAB software programming and Recover the 3D information of the surface of obstacle in front of the Intelligent vehicle,so could judge accurately the distribution of obstacles.then emulate the method of Path Planning in MATLAB software platform and find the a Optimal Path In Vision-based Navigation. Experiment proved that the structured light projection based on laser triangulation principle is applied in Vision-based Navigation system of the Intelligent vehicle.