Monocular vision and laser radar fusion-based road travelable region detection method
A technology of laser radar and monocular vision, which is applied in the field of intelligent transportation, can solve problems such as being susceptible to light conditions, sparse point cloud data, and high time consumption, and achieve the effects of strong robustness, narrowing range, and narrowing detection range
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[0042] refer to figure 1 As shown in Fig. 1, the existing improved linear iterative clustering method combined with edge segmentation is used to perform superpixel segmentation on the picture collected by the camera, and the picture is divided into N superpixels, each superpixel p c =(x c ,y c ,z c ,1) T Contains several pixels, where x c ,y c ,z c Indicates the average value of the position information of all pixels in the superpixel in the camera coordinate system, and at the same time, the RGB of these pixels are unified as the average RGB of all pixels in the superpixel. Reuse existing calibration techniques and rotation matrices and transformation matrix According to the formula (1) to get the conversion matrix
[0043]
[0044] Use the rotation matrix and Establish the conversion relationship between the two coordinate systems, such as formula (2):
[0045]
[0046] Each point p obtained by the lidar l =(x l ,y l ,z l ,1) T Projected onto the...
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