Road edge detecting and tracking method

A technology for detecting and tracking road edges, applied in image data processing, instruments, character and pattern recognition, etc., can solve the problems of inaccurate recognition and excessive deviation, and achieve the goal of improving computing speed, high accuracy and improving accuracy Effect

Pending Publication Date: 2021-08-06
QUFU NORMAL UNIV +1
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of this, the present invention provides a road edge detection and tracking method, which solves the problems of inaccurate identification and excessive deviation in the existing road added measurement and tracking technology in some strong light and shadow environments, and realizes accurate identification of road edges. And track the technical effect of roadside parameters

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Embodiment Construction

[0031] Next, the technical solutions in the embodiments of the present invention will be apparent from the embodiment of the present invention, and it is clearly described, and it is understood that the described embodiments are merely embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, there are all other embodiments obtained without making creative labor without making creative labor premises.

[0032] The embodiment of the present invention discloses a road edge detection tracking method, such as figure 1 As shown, including the following steps:

[0033] Step 1: Preprocessing the road image to obtain a road image threshold segmentation.

[0034] Specifically, pretreatment of road images, including the following steps:

[0035] (1) Weighted average grayscale for road images, and obtain grayscale images.

[0036] By imparting three color components of the collected road images, the weights of R, G, B are 0.299, 0.57...

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Abstract

The invention discloses a road edge detecting and tracking method, and relates to the technical field of road edge detection, and the method comprises the following specific steps: carrying out the preprocessing of a road image, and obtaining a road image threshold segmentation map; carrying out edge detection on the road image threshold segmentation map, and adopting a Canny edge detection operatorto obtain a road image edge detection map; identifying a correct road edge straight line from the road image edge detection image through Hough transformation with direction constraint and a probability voting method; and tracking the correct road edge straight line, and dynamically delimiting an ROI region according to the road edge parameter information. According to the invention, interference factors can be effectively filtered out, the road edge can be accurately identified, and the method has the advantages of good real-time performance, high accuracy and the like.

Description

Technical field [0001] The present invention relates to the field of detection techniques of road edges, and more particularly to a road edge detection tracking method. Background technique [0002] The original road marking work requires artificial real-time manipulation, low work efficiency and is easily influenced by subjective factors, affects the quality of spraying. The continuous development of automation technology and sensor technology, the smart driving system begins to walk into people, using various sensor technology to automatically identify roads, automatically adjust the device location. Introducing machine vision technologies into road mariba field, improving marking work efficiency, avoiding loss due to workers' operational mistakes. [0003] The road environment is complex and more variable. The interference situation such as strong light, shadow may occur during the marking process, affecting the accuracy and accuracy of the roadside. Current road recognition t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/13G06K9/32G06K9/46G06T7/136G06T7/181
CPCG06T7/13G06T7/136G06T7/181G06T2207/10016G06V10/25G06V10/40
Inventor 卢立晖石继岗丁明亮来庆亮李双虎张立华王化建李磊张正强
Owner QUFU NORMAL UNIV
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