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Method for extracting panorama road profile

An extraction method and panorama technology, applied in the field of extraction of panorama road outlines

Active Publication Date: 2015-06-10
BEIJING UNIV OF TECH
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AI Technical Summary

Problems solved by technology

Many existing automatic road extraction algorithms only use one or several features of the road and the model is relatively simple

Method used

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  • Method for extracting panorama road profile
  • Method for extracting panorama road profile
  • Method for extracting panorama road profile

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Embodiment Construction

[0020] Such as figure 1 As shown, the method for extracting the road profile of this panorama includes the following steps:

[0021] (1) Input the original road image, use the Gabor wavelet-based vanishing point estimation method to calculate the texture direction information and confidence function of each pixel in the panorama, and obtain the local adaptive soft voting algorithm for the vanishing point position (OCR feature is the prediction line The ratio of the number of points SumO in the upward direction to the total number of points in the entire straight line SumL indicates the degree of consistency of a predicted line pointing to the direction of the vanishing point of the road. The larger the OCR eigenvalue, the more likely the predicted line is a road boundary. High) input information to obtain the vanishing point position;

[0022] (2) After calculating the position of the vanishing point, launch a group of road prediction line segments from the vanishing point or...

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Abstract

The invention discloses a method for extracting a panorama road profile. The method includes the steps: (1) inputting an original road image, calculating grain direction information and a credibility function of each pixel of a panorama by a vanishing point estimation method based on a Gabor wavelet to obtain input information of a local adaptive soft voting algorithm of a vanishing point and the position of the vanishing point; (2) transmitting one group of road forecasting line segments from the vanishing point or a boundary point, calculating OCR (optical character recognition) characteristics and separation color areas to obtain the most suitable road boundary direction jointly judged by multi-characteristic information and constraint functions; (3) selecting a next boundary point as a starting point of each forecasting line segment, and repeating the second step until reaching an image boundary; (4) vertically moving road boundaries to form foreground lines and background lines, and taking the foreground lines and the background lines as inputs transmitted a watershed method for calculation to finally obtain the optimized panorama road profile.

Description

technical field [0001] The invention belongs to the technical field of image processing and road detection, and in particular relates to a method for extracting road outlines from a panorama. Background technique [0002] Road extraction technology needs to use computer vision, pattern recognition and other related knowledge to complete. Road images are mainly divided into two categories: structured roads and unstructured roads. Structured roads generally refer to expressways or urbanized roads, which have the characteristics of complete lanes and obvious road signs. Unstructured roads refer to off-road environments or rural roads. They have no clear lanes and road edges, and the roads have irregular shapes and complex lighting. For the above two cases, road extraction can be divided into automatic road feature extraction and semi-automatic road feature extraction. [0003] Since the automatic recognition ability of the computer is not very perfect at present, it is nece...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/46
Inventor 孔德慧线冰曦张勇田岳毛猛
Owner BEIJING UNIV OF TECH
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