Research on Monocular Vision Real-time Ranging Under Unstructured Road Conditions
In order to improve the safety of intelligent vehicles,autonomous driving vehicles can effectively prevent collision in off-road conditions.In this paper,the distance measurement method of the front object by the monocular camera in the sensing system is studied to improve the safety performance of vehicles on unstructured roads.For the calibration of the monocular camera,the mathematical model based on the calibration method of two vanishing points is adopted,the pinhole perspective model is used to image,and the single frame static image ranging model is used to calculate the distance between the front object and the car,and the RANSAC algorithm,Prescan and Simulink are used to enhance the stability of the image for simulation tests.Finally,the real-time distance measurement test of real-vehicle in non-road condition is carried out.The test results show that the camera can carry out real-time ranging under the condition of non-road driving.
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