智能汽车的视觉感知关键技术研究

智能车技术是当前信息科学领域的热门研究方向，兼具重要的科学意义和工业及军事上的极大应用价值。视觉感知技术是智能车辆的基石，该技术使用的常见传感器包括：单目摄像头、双目摄像头、各种雷达等。其中双目摄像头和激光雷达是目前智能驾驶采用的主流传感器。本项目将针对双目摄像头和激光雷达的视觉感知问题展开研究，主要包括：(1) 基于立体视觉的三维环境感知；(2) 融合立体视觉与激光雷达的视觉感知；(3) 恶劣天气条件下的鲁棒视觉感知技术研究；(4) 实际行驶环境下的目标检测技术研究，包括：小物体检测、路面检测、路沿检测、车辆行人检测以及交通标志检测等。本项目旨在为智能车辆的环境感知问题提供知识积累、实用方法和工具，为智能车辆的产业化提供解决方案。

Intelligent vehicle technology is one of the most popular research topics in information science. It has important scientific significance as well as industry and military value. Vision sensing is the foundation of intelligent vehicles. Related sensors include: monocular camera, binocular camera, all kinds of radar. This project will focus on the vision sensing based on binocular camera and LIDAR, mainly including: (1) 3D environmental sensing based on stereo vision; (2) vision sensing based on the fusion of stereo vision and LIDAR; (3) robust vision sensing techniques under bad weather conditions; (4) object detection techniques for real driving environments, including: road detection, curb detection, pedestrian detection, vehicle detection and traffic sign detection etc. The purpose of this project is to provide the accumulation of knowledge, practical methods and tools for the vision sensing problem of intelligent vehicle and provide solutions for the intelligent vehicle industry.