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\2013届毕业生毕业设计说明书题目:基于图像的车道线检测与跟踪系统院系名称：信息学院专业班级：计科0905班学生姓名：王曌盟学号：200948140505指导教师：于俊伟教师职称：讲师2013年5月28日基于图像的车道线检测与跟踪系统摘要随着我国经济的不断发展和科学技术的不断进步以及生活水平的不断提高，汽车正逐步成为大众的交通工具。随着汽车的不断普及以及汽车行车速度的不断提高，交通事故的数量也随之上升。每年的交通事故给国家的经济，人民的生命和财产造成了巨大的损失。由于疲劳驾驶和注意力不集中，引起车辆偏离车道线从而造成交通事故的数量约占所有交通事故的三分之一左右。在车道偏离预警系统中，整个系统的关键是车道线的正确提取与识别。车道线的提取主要完成从图像中检测并识别出车道线，并且确定车辆在道路上的安全可行区域和定位车道线相对于车辆的位置，以便监测车辆行进的实时情况。当车辆发生偏离时，能够提醒驾驶员及时调整车辆的状态，从而避免交通事故的发生。本文提出了一种实现对图像中的车道线进行识别，得出完整的车道线信息和检测两条车道线夹角的图像处理方法。本文主要研究的内容有：第一、对采集的道路图像进行预处理，主要包括图像的滤波、图像的阈值分割，联通域标记，边缘提取等操作。第二、给出了基于感兴趣区域和Hough变换的车道检测算法，完成对车道线的检测。第三、对检测出来的车道线建立高斯混合模型，从而预测以后车道线检测的可靠性，并将检测结果与高斯混合模型的预测结果结合得到最接近真实情况的结果。关键词：车道线检测，Hough变换，高斯混合模型ThedetectionandtrackingofthelanelinebasedontheimageAbstractWiththecontinuousdevelopmentofChina'seconomyandthecontinuousprogressofscienceandtechnologyaswellasthecontinuousimprovementoflivingstandards,thecarisgraduallybecomingapublictransport.Withthegrowingpopularityoftheautomobile,aswellasthecontinuousimprovementofautomobiletrafficspeed,thenumberoftrafficaccidentsalsoincreased.Annualtrafficaccidentscausedhugelossestothenationaleconomyandpeople'slivesandproperty.Causingthevehicledeviatesfromthelanelineresultinginthenumberoftrafficaccidentsaccountedforaboutone-thirdofalltrafficaccidentsduetodriverfatigueandinattention.Inthelanedeparturewarningsystem,thekeytothewholesystemistheextractionandrecognitionoftherightofthelaneline.Lanelineextractioncompletedtodetectandidentifythelanelinefromtheimage,anddeterminesthefeasibleregionofthevehicleonaroadsafetyandpositioningofthelanelinepositionrelativetothevehicle,inordertomonitorthevehiclestravelinginreal-timesituation.Whenthevehicledeviatesabletoalertthedrivertoadjustthestateofthevehiclesinatimelymanner,soastoavoidtrafficaccidents.Thepaperpresentsanimplementationofthelanemarkintheimagerecognition,todrawthecompleteinformationofthelanemarkandtheimageprocessingmethodofdetectingtheanglebetweentwolaneline.Thispaperstudiesthecontent:First,ontheacquisitionofroadimagepreprocessing,includingimagefiltering,imagethresholdingsegmentationtheUnicomdomainmark,edgeextractionoperation.Second,giventhelanedetectionalgorithm,tocompletethedetectionofthelanelinebasedontheregionofinterestandHoughtransform.DetectedlanelinestoestablishGaussianmixturemodelinordertopredictthereliabilityofthelanedetectionafter,andthetestresultsandthepredictedresultsoftheGaussianmixturemodelcombinedtheresultsoftheclosesttotherealsituation.Keywords:lanedetection,Houghtransform,Gaussianmixturemodel目录第1章绪论...................................................................................................................11.1课题研究的背景和意义...................................................................................11.2国内外的研究现状...........................................................................................21.2.1国外研究和应用现状...............................................................................31.2.2国内研究现状...........................................................................................31.3本文研究内容和组织结构.................................................................................4第2章道路图像预处理方法研究...............................................................................52.1图像去噪中的滤波技术...................................................................................52.2图像分割的算法研究.......................................................................................62.2.1简单的阈值分割.......................................................................................62.2.2基于最大类间方差法(OTSU)的图像分割..............................................72.3连通域标记.........................................................................................................82.4图像的边缘提取...............................................................................................10第3章基于Hough变换的车行道检测....................................................................113.1Hough变换基本原理.....................................................................................113.2改进的Hough变换........................................................................................123.2.1极角约束区域的建立..............................................................................123.2.2动态感兴趣区域ROI的建立................................................................13第4章车道线的高斯混合模型建立.........................................................................154.1单高斯背景建模...........................................................................................154.2混合高斯背景建模.......................................................................................164.2.1背景模型的建立.....................................................................................164.2.2背景模型的判定.....................................................................................174.2.3背景模型的更新.....................................................................................17第5章车道线检测与跟踪系统的实现.....................................................................195.1多线程实现技术...........................................................