Algorithm of Fast Lane Identification Based on Overall Optimal Threshold
-
摘要: 针对现有车道线识别算法难以自适应地匹配图像,在车辆过弯途中识别率低,鲁棒性和实时性较差的问题,提出并实现了一种整体最优阈值的快速车道线识别算法.该算法首先对图像进行自适应二值化分割;然后对图像中的感兴趣区域进行提取;提出逐行检索的方法进行车道线内侧特征点的筛选,从而得到实际车道的左右标志线参数以进行道路模型重建.结果表明:区别于以往常用的霍夫变换,此方法具有更好的实时性及准确性,可在车辆过弯途中为系统提供更多的有效信息.Abstract: Existing lane identification algorithm is difficult to match the image adaptively. Due to low recognition rate when the vehicle cornering,poor robustness and poor real-time,an algorithm of fast lane identification is proposed and implemented based on overall optimal threshold. The algorithm first processes image by adaptive binarization. Then,the region of interest is extracted. The method of progressive retrieval for screening feature points inside lane is proposed and real parameters of lane are obtained to reconstruct the road model.Resultsshow that being different from the previous common Hough transform,this method has better real-time performance and accuracy and can provide more useful information when the vehicle is cornering.
-
Keywords:
- overall optimal threshold /
- machine vision /
- lane detection /
- road recognition /
- intelligent vehicle
-
-
[1] FANG Ya-jun, MASAK I, HORN B. Depth-based target segmentation for intelligent vehicles: fusion of radar and binocular stereo[J]. IEEE Trans on Intelligent Transportation Systems, 2002, 3(3): 196-202.
[2] LI Qing, ZHENG Nan-ning, CHENG Hong. A prototype autonomous vehicle and its algorithms for lane detection [J]. IEEE Trans on Intelligent Transportation Systems, 2004, 5(4): 300-308.
[3] KIM Z W. Robust lane detection and tracking in challenging scenarios[J]. IEEE Trans on intelligent Transportation Systems, 2008, 9(1): 16-26.
[4] 陈勇, 黄琦, 刘霞, 等. 一种全天候驾驶员疲劳检测方法研究[J]. 仪器仪表学报, 2009, 30(3): 636-640. CHEN Yong, HUANG Qi, LIU Xia, et al. All weather detection method of driver fatigue[J]. Chinese Journal of Scientific Instrument, 2009, 30 (3): 636-640. (in Chinese) [5] 何剑. 人耳识别研究综述[J]. 泰州职业技术学院学报, 2009, 1(9): 37-40. HE Jian. Survey of human ear recognition[J]. Journal of Taizhou Polytechnic College, 2009, 1 (9): 37-40. (in Chinese) [6] PUYATI W, WALAIRACHT S, WALAIRACHT A. PCA in wavelet domain for face recognition[C] // Proc of the 8th International Conference on Advanced Communication Technology. Phoneix Park: IEEE Press, 2006: 450-456.
[7] CHIEN J T, WU C C. Discriminant wavelet faces and nearest feature classifiers for face recognition for face recognition[J]. IEEE Trans on Pattern Analysis and Machine Intelligence, 2002, 24(12): 1644-1649.
[8] 付瑶, 刘志镜, 谷明坡. 基于小波分析的人脸特征提取方法[J]. 计算机工程与科学, 2002, 24(6): 52-54. FU Yao, LIU Zhi-jing, GU Ming-po. Face feature extraction using wavelet analysis[J]. Computer Engineering & Science, 2002, 24 (6): 52-54. (in Chinese) [9] LAGANIERE R, GILBERT S. Robust object pose estimation from feature-based stereo[J]. IEEE Transactions on Instrumentation and Measurement, 2006, 55(4): 1270-1280.
[10] 张琪, 张志明, 冯坤. 一种运用Photoshop实现彩色图像灰度化方法[J]. 计算机与数字工程, 2012 (12): 124-127. ZHANG Qi, ZHANG Zhi-ming, FENG Kun. Use photoshop to achieve a kind of gray-scale method for color image[J]. Computer & Digital Engineering, 2012(12): 124-127. (in Chinese) [11] 王康泰, 戴文战. 一种基于Sobel算子和灰色关联度的图像边缘检测方法[J]. 计算机应用, 2006, 26 (5): 1035-1037. WANG Kang-tai, DAI Wen-zhan. Approach of image edge detection based on sobel operators and grey relation [J]. Computer Applications, 2006, 26(5): 1035-1037. (in Chinese) [12] 黄富贵, 崔长彩. 评定直线度误差的最小二乘法与最小包容区域法精度之比较[J]. 光学精密工程, 2007, 15(6): 889-893. HUANG Fu-gui, CUI Chang-cai. Comparison of evaluating precision of straightness error between least square method and least envelope zone method[J]. Optics and Precision Engineering, 2007, 15 (6): 889-893. (in Chinese)
计量
- 文章访问数: 33
- HTML全文浏览量: 3
- PDF下载量: 15