为快速、准确、全面地获取无人地面平台的内外部环境信息,需对视觉图像处理在无人地面平台环境感知系统中的应用进行研究.介绍环境感知系统的组成,对环境感知信息处理中的辅助标定,路径检测与识别,路标检测、定位与识别,障碍检测与定位以及运动目标检测跟踪5大主要视觉信息处理技术进行阐述,并对该技术当前应用的相关图像处理算法进行总结.该研究可为无人地面平台系统的环境感知技术提供参考.%In order to acquiring the whole internal and external environment information of unmanned ground platform quickly and correctly, research the application of vision video processing in unmanned ground platform environment perception system. The thesis introduces the constitute of environment perception system, describes the 5 major vision information processing technologies include assistant demarcating in environment perception information processing, path detection and recognizing, route sign detection, locating and recognizing, obstacle detection, location and movable object detection and tracking, and calculates the relative image processing algorithms of the technology. The research can give reference for environment perception technology of unmanned ground platform system.
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