A vanishing point detection method based on cascaded Hough transform

Abstract

The invention belongs to the field of intelligent transportation, in particular to a vanishing point detection method based on cascaded Hough transform, comprising the following steps of step 1 collecting road vehicle video to obtain vehicle target of each frame image; 2 extracting Harris corner point to obtain feature points on vehicle targets of each frame image; 3 obtaining a straight line track of that vehicle; 4 screening that straight track of the vehicle, and recording the set of the selected straight track of the vehicle as L; 5 converting that selected straight line track set L from image space to rhombus Hough space by cascade Hough transform to vote to obtain coordinates of maximum value points aft voting; 6 converting that coordinates of the maximum point into an image space, finally obtaining the coordinates of the vanishing point in the image space, and finishing the detection of the vanishing points. The method is suitable for various weather conditions, thereby avoidingthe false detection of vanishing point in special weather, and greatly improving the accuracy of vanishing point detection.

Description

technical field [0001] The invention belongs to the field of intelligent transportation, and in particular relates to a method for detecting a vanishing point based on cascaded Hough transform. Background technique [0002] The vanishing point is an important feature in many scenes, which is defined as parallel straight lines disappearing at the same point at infinity, which is called the vanishing point in the perspective view. It is obtained based on certain features in the actual scene combined with a certain algorithm, and can be used for machine vision related work such as camera calibration, scene reconstruction, and scene edge clustering. In summary, as an important basic data, the vanishing point has laid an important foundation for subsequent machine vision related work. [0003] Existing vanishing point detection methods in traffic scenarios usually detect vanishing points based on lane lines. Due to the small number of lane lines and the existence of a certain wi...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problem of difficult or inaccurate detection of disappearance in the above-mentioned existing vanishing point detection methods, the present invention provides a vanishing point detection method based on cascaded Hough transform

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