Method of lane line detection and equipment thereof

A lane line detection and lane line technology, which is applied in image data processing, instruments, calculations, etc., can solve problems affecting the detection results of Hough transform, and achieve the effect of eliminating strong interference

Active Publication Date: 2009-10-28
VIMICRO ELECTRONICS CORP
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Problems solved by technology

The disadvantage of this method is that when there are other interference areas with strong edges, such as separation belts and green belts next to the road, it will affect the detection results of the Hough transform

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  • Method of lane line detection and equipment thereof
  • Method of lane line detection and equipment thereof
  • Method of lane line detection and equipment thereof

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Embodiment Construction

[0010] The core idea of ​​the present invention is to adopt the method of edge detection to obtain the strength and direction of the edge, and connect the edges, and for the points on the edge line that reach a certain length, in the direction of the edge, the Hough transform is accumulated, and The direction of the maximum cumulative intensity is obtained. In the direction of the maximum cumulative intensity, look for the straight line with the largest cumulative value. The cumulative length of the edge line segments falling on the accumulated maximum straight line and reaching a certain length is counted, and compared with a threshold, so as to determine the final detection straight line. Then, move on to the next largest cumulative value.

[0011] figure 1 is a flow chart of the lane line detection method according to the present invention.

[0012] In step 101, edge strength and edge direction of each pixel in the current image frame are obtained by edge detection.

[...

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Abstract

The invention discloses a method of lane line detection and an equipment thereof. The method comprises the following steps of: carrying out edge detection on images and calculating edge strength and edge direction of all pixel points in the images; carrying out edge connection on all the pixel points according to the edge strength and edge direction and obtaining edge line segments in the images; carrying out Hough transform on the edge line segments and calculating the maximum accumulative direction thereof in a Hough transform accumulative column diagram including a directional interval and a distance interval; and in the interval of the maximum accumulative direction, finding a distance interval corresponding to a larger accumulative value, thus determining the lane line according to the maximum accumulative direction and the distance interval corresponding to the larger accumulative value. The invention filters and removes interference of point edges by edges which are connected and detected, and eliminates strong interference in the scene with multiple parallel lane lines by finding the maximum accumulative direction.

Description

technical field [0001] The invention relates to a lane line detection method and equipment thereof. Background technique [0002] In intelligent video analysis or intelligent car assisted driving system, the lane line detection module is a relatively basic and critical part. Existing lane line detection algorithms generally only use edge detection, and then perform Hough transform to find the corresponding lane line. The disadvantage of this method is that when there are other interference areas with strong edges, such as isolation belts and green belts next to the road, the detection results of the Hough transform will be affected. Contents of the invention [0003] The present invention provides a lane line detection method and its equipment which can solve the above problems [0004] In a first aspect, the present invention provides a lane line detection method. The method includes: performing edge detection on the image, calculating the edge intensity and edge direc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00B60W40/06
Inventor 邓亚峰
Owner VIMICRO ELECTRONICS CORP
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