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autotracking's Introduction
这是当初用来做四旋翼循迹的项目,由于四旋翼振动速度和角度变化过快，导致处理有些偏差，但用在那些角度变化速率相对慢些的图像处理还是没有问题的，比如小车循迹也是经过验证的。 利用OpenCV开源视觉库来获取通过硬件解码的RGB图像，避免了通过调用Android Camera得到图像再转码为RGB格式，提高了系统的实时性。然后对采集的图像进行高斯滤波和形态学变换。最后对预处理后的图像进行Canny取边缘操作，利用Hough变换取得道路边缘直线组，在摄像头相对道路的偏转角度在一定范围的条件下，将边缘直线分为左右两组，之后对两组直线利用最小二乘法拟合得到两条道路边缘性，然后得到道路中心线及其位置，该信息可以通过串口\wifi\蓝牙等输出到控制器，以便控制器对小车或飞机的飞行姿态进行调整。 此账号不在维护了，账号移至https://github.com/SilenceDut
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