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Method for detecting field water obstacle detection based on polarizing information

A technology of polarization information and obstacles, applied in the direction of photo interpretation, etc., can solve the problems of long detection time, inability to identify the water surface with reflection, and low accuracy.

Inactive Publication Date: 2007-09-12
ZHEJIANG UNIV
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  • Summary
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  • Claims
  • Application Information

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Problems solved by technology

[0003] At present, the detection methods for various types of water obstacles have their own defects: for example, in the color image, the water body can be identified through brightness and saturation analysis, but the water surface with reflection cannot be identified; To identify the water body, but the detection accuracy is not high; in the thermal sensor image, the water body is identified by comparing the temperature difference between the water body and the surrounding environment between day and night, but the detection time is too long to be used in real-time applications

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  • Method for detecting field water obstacle detection based on polarizing information
  • Method for detecting field water obstacle detection based on polarizing information
  • Method for detecting field water obstacle detection based on polarizing information

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Embodiment 1

[0035] In the pre-check area A shown in FIG. 1 , there is a water body obstacle B (shown in the shaded part). The method of the present invention will be described below in conjunction with the flow chart of FIG. 3 , by analyzing the polarization information to detect water body obstacles and delineate the range of water body obstacles.

[0036] This embodiment uses a camera to acquire polarized images. Install a linear polarizing filter in front of the camera, aim at the same area and keep the camera position still, adjust the angles between the transmission axis of the polarizing filter and the horizontal plane to be 0°, 45°, and 90° respectively, and take three polarization images of the same area image. The three images have the same size and the same viewing angle, and the objects in the region have the same position in each image.

[0037] Note that the gray values ​​of the pixels corresponding to the same position in these three images of 0°, 45°, and 90° are respecti...

Embodiment 2

[0065] In the pre-inspection area A shown in Figure 2, there is a water body obstacle B (shown in the shaded part), and the area D in the figure is not a water body obstacle.

[0066] This embodiment uses a camera to acquire polarized images. Install a linear polarizing filter in front of the camera, aim at the same area and keep the camera position still, adjust the angles between the transmission axis of the polarizing filter and the horizontal plane to be 0°, 45°, and 90° respectively, and take three polarization images of the same area image. The three images have the same size and the same viewing angle, and the objects in the region have the same position in each image.

[0067] Note that the gray values ​​of the pixels corresponding to the same position in these three images of 0°, 45°, and 90° are respectively I 0 , I 45 and I 90 , taking the pixel point whose coordinates are (1, 1) in the upper left corner as an example, the gray value of this point in the three i...

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Abstract

This invention relates to a method of detecting outdoors water substance impediment base on polarization information, the process is: fix polarizationlum filter at camera front; pick three pieces different polarization physic images in identity region; count the polarization degree chart, polarization phase map and phase similarity measure chart of this region, and at the phase similarity measure chart verdict whether water substance impediment existing; if existing, then through self-adapting threshold partition algorithm to line out possible range of water substance impediment, at last combine polarization degree chart to definite true water substance impediment region. This device by detecting polarization characteristic of water-reflected light, could detect rounded water surface region, especially possess favorable identify effect to state of water surface existing reflection .This invention adopt relatively simple image segmentation algorithm, small calculated amount, quickly, high accuracy rating, and wide detecting celerity, wide applicability.

Description

technical field [0001] The invention relates to a method for detecting outdoor water body obstacles based on polarization information, which is suitable for detecting water body type obstacles when an unmanned autonomous vehicle is moving. Background technique [0002] When the vehicle is running in a complex field environment, it must be able to identify various types of obstacles. Various types of water bodies, due to their high probability of occurrence and great damage to the vehicle body, are important objects for obstacle detection by unmanned autonomous vehicles in the wild environment. [0003] At present, the detection methods for various types of water obstacles have their own defects: for example, in the color image, the water body can be identified through brightness and saturation analysis, but the water surface with reflection cannot be identified; To identify water bodies, but the accuracy of detection is not high; in thermal sensing images, water bodies are ...

Claims

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Application Information

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IPC IPC(8): G01C11/04
Inventor 项志宇谢斌刘济林
Owner ZHEJIANG UNIV
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