" #$% & #$% 改进的基于梯度场 变换机场道面地灯检测算法研究 (+,-. /0 ( ( ( 12/3456789:;227 $%1<8=>34?@AB7-567- CDEFGHIJKLMN=>3O 7P QRSITUV=W$%XBY1Z[\ (8?]^_21 H`a7bc +, 1 E -567- D 2 -./0 "(1 1 9 1 1, " #$ % %&" # "%& " " :-;". :95. "# $ % & # ( "& # 9.< / / < < = > / -567-2 < /?< < 2< 2 < < 2.< / < / 2 2 / < / <. 2 < < //< / < /. ;@ /> / / /< < < / <.?. (8 A 2< 2 < < /.< / 2.< / < /./ 2 < " # $ % & (+ +,-./01 23451678-9:; < 1=>?@ABCDEF- G1(HIJ K?B L G M N O P Q R S T U V W M X? B Y $ O : G Z [ \?B]^_ #+ ` a O C b c O T ( _,+ -./ = C ` a = > E O + X E : ^ % Y + - / % S -./ ( 0. -./ 1+ Y, C ( M b c ^ -./ &%/F. Y -./ -./ 2- + = C - b c = #$% #%%% %(( "#$%& > = > (+ E = % 1 -./ = >? B %$%%+ Y=1 -./ 8 -?B=>Z[; -./ &%/F;,?B%:Z E?B "#$ %& ( # 34 T E E C b c Q C(( ^C: bc Q " # =>$#% #
%&(+, H3$= -./,0123456789 +, - 74#+468. / 0 1 " #2 3 " "# $ $4 5 6 4 7 8 9 (% %#&$&$:;<= 9 (& W i "# $ $j 3 ] ^ " > "# $ $k 8 l ] m m Y U # n o ] = p q Y ^ L r > "# $ $k 8 l ] s t u 8 X Y ] " # $ % "#&$&$ #7:46;#<=>468 $7:(46=/#$=>:468 # ^ 8\ ]v w f XY x +IJ X Y y "# $ $& z {? X Y " $ >?"@ABC8DE FFGHIJK"8LMN \ ] _ } ~, @ A X Y + =?XY\] _ } ~, 8 & ( ` a @ A 8 1 0"C $123& O P QR S T UV I W XY & %&"# $ $?" "# $ "# $ $ "# $ $$ Z9 " "# $ $> "# $ $8XY 40[\ ] "# $ $? "?7#$8@?7 "" "" 8 "# "$ % & ( #&?#((D $&?$D#+ "A $ XY ] ^ _ ] > ` a "# $ $8 " 8 b c d < e \ ] f ] $74#+468 %&%#&$&#?%&%#&$&#> %# $ # ^g h I %C # " %#&$&#+ %#&$&# "# $ $?-(+ " # $ $ & ( %&%#&$&# 0Z 0 %E #23& "B $ "#$% 1 "# "# $ 0 &( 2/, ((343.#5/ 4-#6 ª K "#$%& I J & ( G H @ P k { ª 2 V " ª?./ %# $ # W " ª% 0/%#&$&# 10%G #123& 0 / % #& $& #? c + @ A c + # $ %#$#@/%#$# %# $ %# $ ## (=," %# $ #& %"?%-," %F # %# $ #" %# $ #? $%#$#@ %#$# %G # / K? & (@ A %1 F #I J %" %Z % ##? W + I J 4 E " ª %Z %E #i «#f X Y + VE 8 "#$% "$ % # $ # $ %#$#@/%#$# %± ² 0Z i 23& "#$% &(#+, (#-(./ (%& "ª_ }~º-8XYy %#$# P & ]^ +%## f 1% ³8 µ "ª% 0/%#&$&# ¹ & }~»¼½P<IJ +/%##%Z A i23# 0[ #11A#
"#$%&""#$ " $ # ( "#""@"#""A$ # #% " % :215 +#<2.E2 # #% " #" @ " #B#&" A %C%&" # ".5##"$".&D & 3+# #% "@ " ##%"-J##%" # #% #/ # #% "" "#""+/ # #% "#3+# #% " "#""@ "#"" ",&+#&+#%&+#"&+"+"#""#3+# #% " /5E :21 /5E 0123/E91/ ( z{ j%#} ~ qk l & K "} X > 5 H Z ] ^ _ ` # >?H r s}z d e ]% " &0 0 d e H ]% L " 0 de H ] % L +, L % " # g #] ^ %} ] % ãc12ä8-.67e K SLJ G5/E./5425&8 82M0&44 4.22<N5+ &:</1 &339.98&<21 f 8 # S, -. / 0 1 2 3 4 #5 6 7 / 0 8 9 : ; < = >? ª 8 #, «8 } : 8 ª # Z a Z >,@AB# CD67EFGHIJK5LM9NOHP ± ² 8 ³ "#W L J µ } Z - 8 ] ^ _ ` % Q #R S T U V A B #W A B L J X Y? > Z [ \ 8 ] ^ _ X L ¹ M º -» p " ¼ I J ½ ¾ ` #az - b 8c d e f% À #, % " C D - ÁÂ Ã @ Ä L Å ¹ Æ gh L J ij k l Tm % pç gè É 8 ]^ Ê % 0123/E91/F( "# x Ë Ì Í 8 1 Î Ï 0 & Ð Ð } À ] ^ #Ñ Ò Ó -509<6-.+&nop G9<09<6,&+#&+#%&+#"&+"&]^ qh 5 hrs> tuv 8 " ¼ Ô À #, n Õ Î Ö Ø #Ù Ú Û Ü $+# #% "#+# #% "+-.+ 34 ½¾1Î&0ÙÚ 0&8 À# % %# +# #% "@" # #% #/+# #% "#+# #% "" & "> " Y Ý Þ ß v " ¼, «K à M Ö Ø K ½ ¾ 1 Î +0 @+,1+0 & À #á > "3 "% S â Û Ü 3 4 ¼, «K à M 2+# #% "#.++0 H"II V q. h wc xy Ü 3 4, 1 Î Ï &de 8 ½ ¾% +, % " +, - % "#$& "%&( """ +#( "%&( "" +" -.&+/ 01/0123/445+6 & "7&89/ 2: ;<10/ 0/&= 4 &>29<?"" $> " 7&89/ 2: ;<10/ 0/&= 4 &>29< "" "./012(, p åæ# ÈÉ Zåæç>è# é ê $ 3445678 F29+N ë ì V q 8 6 7 í î # å æ L M 8 >? x y ( z p+ Â, -. ê z { ^ / # é 0 1 2. t 3 «%ï x y 8 >? x y( ð [ #ñ = ç ] ^ 8 ò ó ô ô 4 5 6 7 p #8 9 7 2. Y # : 7 8 p æ ; } õ Ç å æ 8 å æ > ö ] ^ #ñ = ø ù ú û q ü - << - =.>?=. >% z S, - =.>? ýþ% =. > ç Y @ Õ I A l Õ Î 8 0 B, «z #Ø S ÿ " º Â Ã @ Ä L J ## $ % &, 8 Y xy# >8 Y g j ÕÎ Ä (v8 ³% "KK%" â Z ÈÉ æ C ³D 0 E % F- E DØ G -=. >H å (O I %J. KØ
(,& "#$%& " # $ % & ( + (,-./0&1,- 2 34567%89:; < $=> %?> @ @ A B@CD> %?A> $= $= E$=9> %?E> 7FGHIJKLMNO(,- P Q 9B@RSTU VWX79Y N # # $ %%$ B@2 Z?> B@?> $= 3[\ B@> 3[^ RS & @ Nab [_`ab [_`9 @ Nab & @ @ ( Nab @ Nab@ `IE(ab I9ab M ( E + R L 7 9 & 7FGK^N `9 2 ^ I 9(( ^>, -Q P Q 2 $ $ = 1, - 9 $ = M c9l4_`9ab $ = M&9VW 8 9 9 " I.MN9 "" B@2 Z?> B@?> $= 3[\] B@> 3[^ RS [_`9abc9 & @ N @ N`ab,`ab & @ 9 @ 9 1 "I9RS #, $ %&I5 9 M J K T L a b^(tn[_`9 ^TI+R9 "I,-Q " 9 M 9 $ = +, I-.L:C9W #$ %& ( +,-(.-/ 0.1- - -/ -( -#$ (.-( 2//34 #$ 5, 67, "8. 8-.9 :(19.00(./& -( 0.1- /./;.,-(.-/ -/-(. ( - -#%$ (9 +/,-(. (9 +
GH (+,IJ./01K " # $%&% &% % % %( % " & %%&%+,-./01 % # " # $%&% &% % %( % % & % %%& % %& & 2%% &34455-++6 5 %& 7 8% %( % % %9 %&% % %( % : 8& # % " &% : %%&%44//-05;.0/+ / % & 2% %% %% % &2 % %% % + 7% % <%%2%++-0;5.0, 0 " #$%&&45-00,.0; ="> "?: <?: % :%% 2%& %( & % > % % @% 45-00,.0; ; 8 A % % & #& : % # % $%&++/-0+5.;44 >%% BB%% 7 % 8 &% $%8% :&%% 7%% 8& %&%? % "% @ 7 2% % % : & %% %44,+-/,.;4, (+,-./01 234544;4-5/.5 ">A C">A C 8% %( & 5 & % %9%&% & "& %& & 8%&9%44; 4-5/.5 F % & % % %% "& 445,;-.40/ < A 2&% % &%% % #&%% % : : % %%&% :% #&% 7 2 " @7"- ++-0,.05 5 =7% $7%? " % % & % &%%#&%% % 8 : % %%&% &%?% 2%% & 7-44/- ;.+ / A@: A:">A?%< % A%% & & % & % 2% % : :?7: % D % 8%& 7E - 440- ;46;5 0 B 8 = <?%% B% " % & % % %2% % &% % % %& % : 7 #&%?% 44/ 5-5065 ; 6 7 8 9 : ; < = >? @ A BCD E 40 -,6?:@ "?: ( 8% %%& %% 2% % & % >% % 7%& 40-,6 0 F : % 7 : 44,- ;46;/ 5 = B B$ " % % % % %( & %&9% # % %& 44,-/56+4 /?%% & A:#- :% % ++50,-046;/ 0 : B % " % % < % & % &%+,,// -,6; ; % $ " % < &%% %% &&% & # % $%&?% %+,,-56/5 < # % % %&E &%( % @7 % +;5;+-;0/, C? B % # " % &% % %& % - E% < $<8 # % %& % % ++4 0-55655, + : <?% " &% %& < :% +++-06; 4B% 7 &&% 2 && & % "+0, -46 B%% # " % % %& && & 2% % < &% & ++0/-/+6;5 +