Lane line detection method and system for improving color space and search window

Abstract

The invention relates to a lane line detection method and system for improving color spaces and search windows, and the method comprises the steps: obtaining a lane line region aerial view based on the perspective transformation of a lane line region image, and carrying out the re-fusion of the lane line region aerial view through employing different color components of different color spaces, and lane line searching and lane line fitting are carried out in combination with a window sliding mode, and final lane line detection is realized. According to the scheme, optimal channels in multiple color spaces are fused, and the problem that illumination, shadow and yellow lane lines are difficult to detect is effectively solved; repeated calculation steps can be ignored by applying a window search method, the calculation amount is effectively reduced, and the speed is increased; besides, based on the application of mutual transformation between perspective transformation and inverse perspective transformation, a large amount of calculation related to lane line detection is applied to an image with a small data size after perspective transformation, the calculation amount can be effectively reduced, the detection speed of a single-frame image is increased, and the requirement of real-time detection is met.

Description

technical field [0001] The invention relates to a lane line detection method and system with improved color space and search window, belonging to the technical field of computer vision. Background technique [0002] At present, there are many lane line detection methods. Jamel Baili et al. proposed a feature-based lane detection method, which uses the horizontal difference filter to simplify the edge detection process, and uses the improved Hough transform to group the detected edge points into Straight line; Qian Kidd et al. used the Soberx edge detection operator to detect the edge information of the lane line, and then used the improved Hough transform to detect the possible lane line on the basis of the region of interest. Raja Muthalagu proposed that there must be lane lines in the subsequent consecutive frames that detect the presence of lane lines, and the detection of the next frame can be skipped. The above lane line detection methods are easily affected by light, ...

AI Technical Summary

Problems solved by technology

The above lane line detection methods are easily affected by light, road shadows and lane line defects, cannot detect curved lane lines, are difficult to deal with complex urban roads, are easily affected by other edge noise, and have a slow detection speed

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