【摘要】 为了提高自动泊车领域单一应用机器视觉技术对目标空车位方位检测的适应性，研究了一种基于双鱼眼镜头近景图像的车体相对车位方位机器视觉检测方法.采用双鱼眼镜头采集车位近景图像，通过对图像校正、图像拼接、逆透视变换和图像二值化等图像处理，提取俯视平面上目标空车位线轮廓边缘和双鱼眼镜头位置点.建立车体相对目标空车位的坐标系，通过视觉识别和像素点坐标计算确定双鱼眼镜头在车位二维坐标系下的坐标.基于已知车位和车体尺寸、鱼眼镜头在车体上安放位置等信息，运用几何方法建立车体相对车位方位角与距离的计算关系模型.结果表明：方位角检测最大相对误差为9.16%,距离检测最大相对误差为3.89%,提高了目标空车位检测的适应性.更多还原

【Abstract】 To improve the single application adaptability of machine vision technology in the field of automatic parking to the orientation detection of the target empty parking space, a new machine vision detection method for the relative position of car body was investigated based on the close-range image of binocular lens. The close-range image of the parking space was collected through the binocular lens. Through the image processing of image correction, image mosaic, inverse perspective transformation and image binarization, the contour edge of the target empty parking space on the top plane and the position point of the binocular lens were extracted. The coordinate system of the vehicle body relative to the target empty parking space was established, and the coordinates of the binocular lens in the two-dimensional coordinate system of the parking space were determined through visual recognition and pixel point coordinate calculation. Based on the known parking space and car size, the position of fisheye lens on the car body and other information, the calculation relationship model between the azimuth and distance of the car body relative to the parking space was established by geometric method. The results show that the maximum relative error of azimuth detection is 9.16%, and the maximum relative error of range detection is 3.89%, which improves the adaptability of target empty parking space detection.更多还原