Vehicle front target detection method based on characteristic-point mutual information content and optical flow method

Abstract

The invention discloses a vehicle front target detection method based on a characteristic-point mutual information content and an optical flow method. The method comprises the following steps: firstly, reading color images of two adjacent frames in a video and converting the color images into gray level images; secondly, carrying out pretreatment on the gray level images, using a histogram equalization method to carry out enhancement so as to increase a resolution ratio of a target lane line; thirdly, using a method based on a median filtering to carry out smoothing process; finally, after the pretreatment is performed, using the method based on the characteristic-point mutual information content and the optical flow field to detect vehicle front motion barrier. The last step comprises: 1) extracting a characteristic point; 2) marking; 3) determining the number of angle points; 4) selecting an area; 5) calculating the mutual information content; 6) determining a angle point chain; 7) calculating an angle point optical flow; 8) determining a distance and an angle criterion and deleting the angle points possessing a same vector; 9) carrying out thresholding and acquiring a final motion barrier detection result.

Description

Technical field:

[0001] The invention relates to a detection method for a moving obstacle in front of a vehicle, in particular to a detection method for a target in front of a vehicle based on feature point mutual information and an optical flow method. Background technique:

[0002] In the field of traffic, accidents are likely to occur due to drivers' inattention, fatigue or drunken driving, and various emergencies. In order to improve the safety of driving and the simplicity of operation, the use of corresponding auxiliary driving systems can prevent and reduce the occurrence of such accidents. Among them, the detection of obstacles in front of the vehicle is also one of the key technologies of the assisted driving system.

[0003] At present, the detection methods of obstacles in front of the vehicle mainly include: the first is based on infrared imaging detection, this method is not limited by the general light during the day and night, but is easily affected by high t...

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