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Determination method and apparatus for traffic sign image

A traffic sign and image technology, applied in the automotive field, can solve the problems of poor detection effect and high missed detection rate

Active Publication Date: 2015-01-21
WUHU LION AUTOMOTIVE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problems of high missed detection rate and poor detection effect in the existing traffic sign determination method, the embodiment of the present invention provides a traffic sign image determination method and device

Method used

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  • Determination method and apparatus for traffic sign image
  • Determination method and apparatus for traffic sign image
  • Determination method and apparatus for traffic sign image

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0061] In step 101, the connected regions of each predetermined color in the RGB (three color channels of red, green and blue) image of the traffic sign image to be determined are determined.

[0062] Wherein, the predetermined color includes red, blue and yellow.

[0063] In step 102, a candidate traffic sign image is extracted from the RGB image for which the traffic sign image needs to be determined according to the determined connected regions.

[0064] In step 103, the edge of each candidate traffic sign image is extracted.

[0065] In step 104, the edge of each candidate traffic sign image is divided into several line segments.

[0066] In step 105 , the steering angles between two connected line segments in each edge and between adjacent line segments that are not connected but tend to intersect are calculated.

[0067] Wherein, the calculation formula of the steering angle is, θ=tan -1 ((V 1 ×V 2 ) / (||V 1 ||×||V 2 ||)). θ is the steering angle, V 1 =P c -P p...

Embodiment 2

[0074] In step 201, according to the transformation formula of each predetermined color, color transformation is performed on the RGB image to be determined as the image of the traffic sign, so as to obtain an image highlighting the predetermined color.

[0075] Wherein, the predetermined color includes red, blue and yellow. The transformation formula of red is C red =max(0,min((v R -v G ) / A,(v R -v B ) / A)), the transformation formula of blue is C blue =max(0,min((v B -v R ) / A,(v B -v G ) / A)), the transformation formula of yellow is C yellow =max(0,min((v G -v B ) / A,(v R -v B ) / A)). C red Indicates the red image obtained after transformation, C blue Indicates the blue image obtained after transformation, C yellow Indicates the resulting yellow image after transformation. v R Indicates the R channel pixel value, v G Indicates the G channel pixel value, v B Indicates the B channel pixel value, A=v R +v G +v B .

[0076] Through the color conversion, thre...

Embodiment 3

[0169] The first determination module 301 is used to determine the connected area of ​​each predetermined color in the RGB image of the traffic sign image, and the predetermined color includes red, blue and yellow.

[0170] The first extraction module 302 is configured to extract candidate traffic sign images from the RGB image according to the determined connected regions.

[0171] The second extraction module 303 is used to extract the edge of each candidate traffic sign image.

[0172] The segmentation module 304 is used to segment the edge of each candidate traffic sign image into several line segments.

[0173] The calculation module 305 is used to calculate the steering angle between two connected line segments in each edge and between adjacent line segments that are not connected but have a tendency to intersect.

[0174] The second determination module 306 is configured to determine the traffic sign image from the candidate traffic sign images according to the magnitu...

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Abstract

The invention, which belongs to the automobile field, discloses a determination method and apparatus for a traffic sign image. The method comprises: connection zones of all predetermined colors in an RGB image needing to determine a traffic sign image are determined, wherein the predetermined colors consists of a red color, a blue color and a yellow color; according to the determined connection zones, candidate traffic sign images are extracted from the RGB image; edges of all candidate traffic sign images are extracted; the edge of each candidate traffic sign image is segmented into a plurality of line segments; a steering angel between two connected line segments and a steering angle between two disconnected adjacent line segments in an intersecting trend in each edge are calculated; and on the basis of the steering angle values of each edge, a traffic sign image is determined from the candidate traffic sign images. In addition, the apparatus is composed of a first determination module, a first extraction module, a second extraction module, a segmentation module, a calculation module and a second determination module. According to the invention, the color and the shape characteristics of the traffic sign are combined and utilized; and the effect of traffic sign image determination is good.

Description

technical field [0001] The invention relates to the field of automobiles, in particular to a method and device for determining a traffic sign image. Background technique [0002] At present, in the upsurge of research on advanced driving assistance systems and unmanned vehicles, it is an indispensable research content to study how to identify various external environmental information in the vehicle driving environment. These external environmental information include lane lines, obstacles, structured or unstructured road surfaces, and traffic signs. Among them, the recognition of traffic signs is generally aimed at traffic signs of speed limit, warning and instruction. The existing methods for identifying traffic signs mainly use the information such as the shape of the traffic sign itself to analyze, determine the image of the traffic sign, and then specifically identify the image of the traffic sign. [0003] In the process of realizing the present invention, the invent...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06K9/46
CPCG06T7/11G06V10/56
Inventor 谷明琴王海孙锐
Owner WUHU LION AUTOMOTIVE TECH CO LTD
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