Method for recognizing zebra crossing and measuring zebra crossing distance based on line-by-line scanning

A progressive scanning, zebra crossing technology, applied in the field of computer vision, can solve the problems of low anti-interference ability, high energy consumption and high cost

Inactive Publication Date: 2012-06-20
QINGDAO UNIV OF SCI & TECH
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  • Abstract
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Problems solved by technology

[0025] One of the purposes of the present invention is to provide a method for identifying zebra crossings by progressive scanning, which effectively solves the anti-interference problem existing in the prior art by designing a speci

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  • Method for recognizing zebra crossing and measuring zebra crossing distance based on line-by-line scanning
  • Method for recognizing zebra crossing and measuring zebra crossing distance based on line-by-line scanning
  • Method for recognizing zebra crossing and measuring zebra crossing distance based on line-by-line scanning

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Embodiment Construction

[0067] The technical solutions of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0068] Before describing the specific implementation manners of the present invention, the design idea of ​​the present invention is firstly introduced.

[0069] The road zebra crossing is composed of a group of alternating black and white, equally spaced strips. Therefore, the most notable feature of the zebra crossing area is that it has strong grayscale contrast and good regularity. Based on this, in order to analyze the characteristic change of the zebra crossing, the present invention adopts a progressive scanning method for the zebra crossing to analyze the gray level change of each row of spatial pixels in the image containing the zebra crossing. by image 3 The image to be detected is shown as an example. When scanning to the L1 position in the figure, the grayscale curves corresponding to all pixel...

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Abstract

The invention discloses a method for recognizing a zebra crossing and measuring the zebra crossing distance based on line-by-line scanning. The method for recognizing a zebra crossing comprises the following steps: constructing a wavelet function template containing an odd wavelet function and an even wavelet function; carrying out line-by-line scanning on an image to be detected, and respectively carrying out convolution operation on grey scale value vectors of all pixel points in each scanning line with the odd wavelet function and the even wavelet function; defining a response function formula, and calculating response function vectors corresponding to all the pixel points in each scanning line in accordance with the formula; and recognizing the zebra crossing in accordance with response function values and a preset threshold. After the zebra crossing is recognized, by calibrating the distance between an imaging device and the image formed by the imaging device in advance, the distance from the scanning line first detecting the zebra crossing to the imaging device can be obtained, thereby realizing the measurement of the zebra crossing distance. The method recognizes the zebra crossing based on the line-by-line scanning of the image by using the wavelet template, and has the advantages of good anti-jamming ability, high recognition accuracy and high recognition speed duringzebra crossing recognition.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a method for identifying zebra crossings and measuring the distance between zebra crossings, and more specifically, to a method for progressively scanning the recognition of zebra crossings and measuring the distance between zebra crossings. Background technique [0002] Since the 1980s, with the rapid development of computer, electronics, and communication technologies closely related to robotics, there has been an upsurge in research on intelligent vehicles at home and abroad, among which various intelligent vehicles with broad application prospects and military value have been favored by various countries. General concern. For smart vehicles, the key technology of smart driving has become a research and development hotspot. In the field of intelligent vehicle driving, the most complex and challenging task is to realize the autonomous navigation of the vehicle. Zebra ...

Claims

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Application Information

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IPC IPC(8): G06K9/00G01C3/00
Inventor 王传旭刘云闫春娟
Owner QINGDAO UNIV OF SCI & TECH
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