胡斌, 张朋飞, 何克忠. 一种用于室外移动机器人的快速有效的车道线识别方法[J]. 机器人, 2006, 28(4): 394-399..
HU Bin, ZHANG Peng-fei, HE Ke-zhong. A Fast and Efficient Lane Recognition Method for Outdoor Mobile Robots. ROBOT, 2006, 28(4): 394-399..
Abstract：This paper presents a lane recognition method which can satisfy the high-speed requirement of outdoor mobile robots.Firstly,we use edge extraction method and dynamic bi-threshold binarization algorithm to get a binary image from the original picture,then the ATN-based image comprehension method is used to get the position of lane.The method is used in THMR-V(TsingHua Mobile Robot-V) which also successfully achieves a maximal autonomous driving speed of 150km/h in highway.
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