[1] [1] Wang Wenfeng, Ding Weili, Li Yong, et al. An efficient road detection algorithm based on parallel edges［J］. Acta Optica Sinica, 2015, 35(7): 0715001.

[2] [2] Li Chengfei, Chen Xinhua. Vehicle type recognition based on combining local binary pattern and Hu matrix feature［J］. Laser & Optoelectronics Progress, 2016, 53(10): 101503.

[3] [3] Wang Qilong, Li Jianyong, Shen Haikuo. Target tracking system of binocular vision and laser range sensor［J］. Acta Optica Sinica, 2016, 36(9): 0912002.

[4] [4] Li Kaiming, Zhang Qun, Luo Ying, et al. Review of ground vehicles recognition［J］. Acta Electronica Sinica, 2014, 42(3): 538-546.

[5] [5] Qiao Jian. Analysis on detection ability of shipborne optic-electronic equipment［J］. Optics and Precision Engineering, 2013, 21(10): 2520-2526.

[6] [6] Bertozzi M, Broggi A, Fascioli A. Vision-based intelligent vehicles: State of the art and perspectives［J］. Journal of Robotics and Autonomous Systems, 2000, 32(1): 1-16.

[7] [7] Liu X H. Development of a vision-based object detection and recognition system for intelligent vehicles［D］. Madison: The University of Wisconsin, 2000: 14-69.

[8] [8] Zhang Shanhua, Chen Huifang, Zhang Haiting, et al. Design of optical lens for traffic surveillance system［J］. Laser & Optoelectronics Progress, 2011, 48(2): 022202.

[9] [9] Yu Daoyin, Tan Hengying. Engineering optics［M］. Beijing: China Machine Press, 2000: 58-63.

[10] [10] Song Jiajun, He Ping′an. Design of zoom projection lens for the light engine of LCoS rear-projection TV［J］. Applied Optics, 2007, 28(1): 58-62.

[11] [11] Zhang Yimo. Applied optics［M］. Beijing: China Machine Press, 2008: 602-658.

[12] [12] Huang Zhenyong, Lu Chunlian, Yu Jianjie. Optical design tutorials based on ZEMAX software［M］. Harbin: Harbin Engineering University Press, 2013: 335-337.

[13] [13] Mao Wenwei. Modern optical lens design: methods and examples［M］. Beijing: China Machine Press, 2013: 280-284.

[14] [14] Zhang Baolong, Li Dan, Zhang Shaojing, et al. Design of aspheric fisheye lens and study of distortion correction algorithms［J］. Acta Optica Sinica, 2014, 34(12): 1222001.