Lane line detection method based on feature point piecewise linear fitting

A lane line detection and piecewise linear technology, applied in the field of intelligent transportation, can solve problems such as high algorithm complexity, large memory requirements, unfavorable algorithm real-time performance, etc., and achieve broad application prospects, small amount of calculation, good anti-interference ability and The effect of fault tolerance

Active Publication Date: 2014-08-27
SHANDONG UNIV OF SCI & TECH
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Problems solved by technology

However, the algorithm for implementing Hough transform has high complexity and large memo...

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  • Lane line detection method based on feature point piecewise linear fitting
  • Lane line detection method based on feature point piecewise linear fitting
  • Lane line detection method based on feature point piecewise linear fitting

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Embodiment Construction

[0045] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0046]The basic hardware condition needed to realize the system structure of the present invention is: a main frequency is 2.4GHZ, and the internal memory is a computer with 1G, and the required software condition is: the programming environment is Visual C++6.0.

[0047] A lane line detection method based on feature point piecewise linear fitting, the specific steps are as follows:

[0048] Step (1): Start, read the image.

[0049] Step (2): Extract the region of interest in the image, and save the image of the region of interest to the corresponding location. Mainly by clipping the image, the effective road area in the structured road image is extracted, that is, the image of the vehicle's drivable area, and the non-road area map is deleted for subsequent processing.

[0050] Step (3): Use Sobel operator to extract the edge image of the extracted re...

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Abstract

The invention discloses a lane line detection method based on feature point piecewise linear fitting. The method mainly includes the following steps that image reading is conducted; region-of-interest region reading is conducted on a read image; edge extraction is conducted on an extracted region-of-interest region image; binaryzation is conducted on an edge image of an interest road; feature points are extracted from the binarized edge image, and a candidate feature point vector set is obtained; filtering is conducted on the candidate feature point vector set, and filtered feature point vectors are obtained; piecewise linear fitting is conducted on the filtered feature point vectors by using the least square method, and candidate lane line equations are obtained; the candidate lane line equations are recognized; according to features of video frames, recognized lane lines are tracked, and a final lane line is output. According to the method, lane lines of lanes can be effectively detected, and the method has good anti-jamming capability and good fault tolerance. Meanwhile, the method is small in computation amount, simple to achieve and high in practicability.

Description

technical field [0001] The invention relates to the field of intelligent transportation, in particular to a lane line detection method based on feature point piecewise linear fitting. Background technique [0002] As a kind of mobile robot, intelligent vehicle can be widely used in the fields of industry, agriculture, military and highway public transportation, and has important research and application value. At present, although substantial progress has been made in the research of intelligent vehicles at home and abroad, from a practical point of view, there is still a certain gap between the current intelligent vehicles and the realization of fully autonomous driving. In order to realize autonomous navigation, existing smart cars generally use visual navigation as their main navigation method. Among the many visual information processed by intelligent vehicles, lane line information is the key road information, and its detection technology is also one of the core techno...

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Application Information

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IPC IPC(8): G06K9/46G06K9/54
Inventor 李敏花柏猛吕英俊
Owner SHANDONG UNIV OF SCI & TECH
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