A monocular vision-based lane line detection and tracking method

A technology of lane line detection and monocular vision, which is applied in the direction of instruments, character and pattern recognition, computer components, etc., to achieve the effect of improving accuracy and real-time performance and suppressing noise

Inactive Publication Date: 2019-05-10
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Although researchers at home and abroad have been studying visual assisted driving for decades, there are still many problems to be solved.

Method used

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  • A monocular vision-based lane line detection and tracking method
  • A monocular vision-based lane line detection and tracking method
  • A monocular vision-based lane line detection and tracking method

Examples

Experimental program
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Embodiment 1

[0022] Example 1: See Figure 1-3 , a lane line detection and tracking method based on monocular vision, comprising the following steps:

[0023] A. Use the camera to collect images;

[0024] B. Image preprocessing; image preprocessing includes G component image grayscale, median filter, Sobel operator edge detection and OSTU method binarization.

[0025] C. Check whether it is the first frame image, if yes, send it to the first frame image lane line detection module, if not, then send it to the tracking process lane line detection module; the first frame image lane line detection module processes the image As follows: a1, Kalman filter to determine the region of interest, b1, linear neighborhood to find the vanishing point, c1, improved Hough transform detection candidate lane straight line, d1, straight line cluster information extraction lane line, the second frame image lane line detection module The processing is as follows: a2, traditional hough transform to detect str...

Embodiment 2

[0027] Embodiment 2. On the basis of Embodiment 1, the image preprocessing module of this design includes a G-component image grayscale module, a median filter module, a Sobel operator edge detection module and an OSTU method binarization module. Such as figure 2 As shown, the G-component image grayscale module is connected to the median filter module, the median filter module is also connected to the Sobel operator edge detection module, and the Sobel operator edge detection module is also connected to the OSTU method binarization module.

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Abstract

The invention discloses a monocular vision-based lane line detection and tracking method. The method comprises the following steps of: A, image acquisition; B, image preprocessing; C, detecting whether the image is a first frame image, if yes, sending the image into a first frame image lane line detection module, and if not, sending the image into a tracking process lane line detection module; andD, detecting output results of the first frame image lane line detection module and the second frame image lane line detection module, determining whether the first frame image lane line detection module and the second frame image lane line detection module are the last frames, if yes, ending, and if not, returning to the tracking process lane line detection module for reprocessing. According tothe invention, the research work of lane line detection can be completed. And the lane line detection tracking work of the video stream is completed, and the real-time performance and robustness of the video stream are verified.

Description

technical field [0001] The invention relates to the technical field of automobiles, in particular to a method for detecting and tracking lane lines based on monocular vision. Background technique [0002] The detection of lane lines originated from line segment detection technology. With the upsurge of intelligent transportation and intelligent vehicle research, many experts and scholars have accumulated continuous accumulation of line segment detection technology, and then people have launched in-depth research on new hotspots of lane line detection. Lane line detection refers to the analysis of vehicle driving lane and lane line position information through sensors to calculate the driving area of ​​the vehicle. The sensors used to perceive the road environment mainly include vision sensors and radars. Radar is not sensitive to environmental influences and has strong anti-interference ability, but it is expensive and collects little lane line information, which is prone ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/32G06K9/34
Inventor 高俊山徐海兵
Owner HARBIN UNIV OF SCI & TECH
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