Method for recognizing zebra crossing and measuring zebra crossing distance based on line-by-line scanning

Abstract

The invention discloses a method for recognizing a zebra crossing and measuring the zebra crossing distance based on line-by-line scanning. The method for recognizing a zebra crossing comprises the following steps: constructing a wavelet function template containing an odd wavelet function and an even wavelet function; carrying out line-by-line scanning on an image to be detected, and respectively carrying out convolution operation on grey scale value vectors of all pixel points in each scanning line with the odd wavelet function and the even wavelet function; defining a response function formula, and calculating response function vectors corresponding to all the pixel points in each scanning line in accordance with the formula; and recognizing the zebra crossing in accordance with response function values and a preset threshold. After the zebra crossing is recognized, by calibrating the distance between an imaging device and the image formed by the imaging device in advance, the distance from the scanning line first detecting the zebra crossing to the imaging device can be obtained, thereby realizing the measurement of the zebra crossing distance. The method recognizes the zebra crossing based on the line-by-line scanning of the image by using the wavelet template, and has the advantages of good anti-jamming ability, high recognition accuracy and high recognition speed duringzebra crossing recognition.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a method for identifying zebra crossings and measuring the distance between zebra crossings, and more specifically, to a method for progressively scanning the recognition of zebra crossings and measuring the distance between zebra crossings. Background technique [0002] Since the 1980s, with the rapid development of computer, electronics, and communication technologies closely related to robotics, there has been an upsurge in research on intelligent vehicles at home and abroad, among which various intelligent vehicles with broad application prospects and military value have been favored by various countries. General concern. For smart vehicles, the key technology of smart driving has become a research and development hotspot. In the field of intelligent vehicle driving, the most complex and challenging task is to realize the autonomous navigation of the vehicle. Zebra ...

AI Technical Summary

Problems solved by technology

[0025] One of the purposes of the present invention is to provide a method for identifying zebra crossings by progressive scanning, which effectively solves the anti-interference problem existing in the prior art by designing a specific wavelet template and using the wavelet template to scan images progressively to identify zebra crossings Disadvantages such as low ability, low recognition accuracy, slow calculation speed, high cost, and high energy consumption

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