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Vision-based road detection method

A road detection and road technology, applied in image data processing, instruments, calculations, etc., can solve problems such as inability to identify road features, and achieve the effect of good stability

Inactive Publication Date: 2011-08-17
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

LiDAR cannot recognize the above road features

Method used

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Embodiment Construction

[0019] The purpose and effects of the present invention will become more apparent by describing the present invention in detail below in conjunction with the accompanying drawings.

[0020] Such as figure 1 Shown, the road detection method based on vision of the present invention comprises the following steps:

[0021] Step 1: On the premise that the road ahead is on the same plane, perform perspective transformation on the road ahead of the vehicle to obtain a top view of the road ahead.

[0022] On the premise that the road ahead is on the same plane, use M.Bertozzi, A.Broggi: GOLD A parallel real time stereo vision system for generic obstacle and lane detection. IEEE Trans. Image Processing, 62-81(1998). The method performs perspective transformation on the road ahead of the vehicle to obtain a top view of the road ahead.

[0023] Step 2: Perform image filtering on the top view of the road obtained in Step 1 to smooth the noise points caused by strong lighting and shadow...

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Abstract

The invention discloses a vision-based road detection method. In the method, which area is a road and which area is not a road in front of a vehicle are judged by detecting the difference of the road and the surrounding environment on brightness and color. The method has simple equipment requirement and high road detection accuracy, and shows good stability in application at the same time.

Description

technical field [0001] The invention relates to the technical fields of image processing and machine vision, in particular to a vision-based road detection method. Background technique [0002] The automatic driving of vehicles has a wide range of applications and extremely high practical value. In the military and industrial fields, vehicles with autonomous driving functions can replace humans to enter dangerous areas to complete reconnaissance, combat and material transportation tasks. In daily life, vehicles with automatic driving functions can replace drivers to avoid human-induced traffic accidents, such as drunk driving and fatigue driving. The road detection method is the basis for realizing the automatic driving of the vehicle. The front passable area obtained by using the road detection method is the basis for the next operation of the autonomous vehicle. [0003] Road detection can use lidar-based detection methods. However, as the cost of automobile manufactur...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06T5/00B60W40/06
Inventor 陈乘刘济林
Owner ZHEJIANG UNIV
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