Road surface detection method and device
A road surface detection and road surface technology, applied in the field of image processing, can solve the problems of unsuitable complex environment and easy interference by noise, and achieve the effect of accurate detection, accurate road surface, and reduced calculation amount.
Active Publication Date: 2019-10-18
RICOH KK
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However, existing methods are not suitable for complex environments and are easily disturbed by noise
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[0034] 2.2. Example 1: Restricting the accumulative space of the Hough transform
example 2
[0035] 2.3. Example 2: Limiting the conversion range of the Hough transform
example 3
[0036] 2.4. Example 3: Setting the cumulative weight of the Hough transform
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Disclosed are a road surface detection method and device. The road surface detection method includes: obtaining a V disparity map including a road surface; and extracting a line segment from the V disparity map as a road surface, wherein extracting a line segment from the V disparity map as a road surface includes: performing road line segment estimation based on constrained Hough transform. According to the constraint-based Hough transform road surface detection method and device of the embodiment of the present invention, noise can be filtered, calculation amount can be reduced, road surface points can be processed more targetedly, road surface can be enhanced, and road surface can be detected more accurately.
Description
technical field [0001] The present invention relates to image processing, and more particularly to a road surface detection method and device. Background technique [0002] The application of driver assistance systems is becoming more and more popular. The road or lane warning system (Lane / Road detection warning, LDW / RDW) is a subsystem of the driving assistance system, which can avoid collisions, determine the driving direction more accurately, etc. Road detection is very critical to the LDW / RDW system, and further processing, such as warning, is possible only on the basis of knowing the road information. Moreover, road pavement detection is also a very important part of 3D driving environment understanding technology, which has a great impact on roadside guardrail detection, vanishing point detection, and vehicle recognition in 3D driving environment understanding technology. [0003] Stereo cameras have the advantage of being able to obtain high-precision disparity maps...
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IPC IPC(8): G06K9/00G06V10/48
CPCG06V20/64G06V20/588G06V10/48
Inventor 陈超游赣梅师忠超鲁耀杰王刚
Owner RICOH KK