Image processing method

An image processing and image technology, applied in the field of image processing, can solve the problems of imperfect road detection and vehicle front target detection, high cost, and high false alarm rate

Inactive Publication Date: 2015-07-15
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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Problems solved by technology

Now the market mainly relies on infrared radar and computer vision. The biggest advantage of infrared radar is that it can obtain the distance and range of the target, but the cost is relatively high, and the false positive rate is high; the method based on computer vision is

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Embodiment Construction

[0070] The preferred embodiments of the invention will be further described in detail below.

[0071] Such as figure 1 As shown, an image processing method of an embodiment includes a road vanishing point detection step, and the road vanishing point detection step includes the following steps:

[0072] S1, performing morphological gradient processing on an image acquired by a front camera of the vehicle to obtain a first intermediate image.

[0073] Road vanishing point detection mainly uses the smoothness of the sky and the structural characteristics of the road to achieve detection. In order to reduce the impact of noise on the results, at the very beginning of road vanishing point detection, the present invention performs morphological gradient processing on the image based on the smoothness of the sky:

[0074] f ( x ) = I dila ...

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Abstract

The invention discloses an image processing method which comprises road vanishing point detection steps. The road vanishing point detection steps comprise the steps that morphology gradient processing is conducted on an image to obtain a first intermediate image; binarization processing is conducted on the first intermediate image to obtain a second intermediate image; morphology processing is conducted on the second intermediate image to obtain a third intermediate image; pixel value cumsum is conducted on each row of the third intermediate image to obtain the sum of row pixel values, and the row with the maximum sum of the row pixel values serves as the ground line position of the image; edge detection is conducted on the portion, located below the ground line position, of the first intermediate image to obtain a fourth intermediate image; line detection is conducted on the fourth intermediate image to obtain a fifth intermediate image, and lines in the fifth intermediate image are obtained; a road vanishing point is determined from intersection points. By means of the image processing method, good road recognition and detection of targets in front of a vehicle can be achieved.

Description

【Technical field】 [0001] The invention relates to the field of image processing methods. 【Background technique】 [0002] With the development of the economy, the number of cars has increased greatly in recent years, which has brought great pressure to the transportation system. A relatively complete intelligent assisted driving system will play a great role in reducing the incidence of traffic accidents. Now the market mainly relies on infrared radar and computer vision. The biggest advantage of infrared radar is that it can obtain the distance and range of the target, but the cost is relatively high, and the false alarm rate is high; the method based on computer vision is low in cost. It is small in size, easy to install and maintain, and the image processing algorithm it is based on has good portability. [0003] At present, some intelligent assisted driving systems based on computer vision are not perfect in road detection and front target detection. 【Content of inven...

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Application Information

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IPC IPC(8): G06T7/00G06T7/20
Inventor 佘青云卢宗庆张文健廖庆敏仝武军李丽
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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