Three-lane detection method based on image morphological segmentation and region growing

Abstract

The present invention relates to a three-lane detection method based on image morphological segmentation and region growing. The method comprises: a method for, by using a shape of a lane mark and a relative gray level of a roadway, performing segmentation on the lane mark by means of image morphology; a method for fitting a vanishing point by using a weighted least square method; and a method for forming a region of interest (ROI) of the lane mark by a region growing method and iteratively searching for a feature point of the lane mark. According to the three-lane detection method based on image morphological segmentation and region growing, aimed at the problem of perception of a vehicle-mounted visual system of an intelligent vehicle to a multi-lane road in a process of driving on the urban structural multi-lane road, a method of carrying out image morphology preprocessing and carrying out iterative solution on the lane mark is adopted to adapt to a multi-lane environment. The method is novel in algorithm, high in adaptability, relatively high in illumination robustness, small in computation amount and easy to implement by programming, so that a module of the vehicle-mounted visual system is improved, and the efficiency and environmental adaptability of an intelligent vehicle environment sensing module are further improved.

Description

technical field [0001] The invention relates to a three-lane detection method based on image morphology segmentation and region growth, which belongs to the related field of vehicle vision. Background technique [0002] In order to avoid traffic accidents caused by improper driving behaviors of drivers and liberate human driving behaviors, the research of intelligent vehicles that can autonomously plan and execute driving behaviors has gradually attracted people's attention. In recent years, relevant scientific research institutes and vehicle manufacturers in many countries have established smart car development and research institutions. Smart car technology has received great attention from government agencies in some countries headed by the United States. For example, the Nevada State Vehicle Administration in the United States has begun to issue driving licenses for smart cars in 2012. During the same period, smart cars in Germany have also been approved by the Berlin go...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the complexity of the multi-lane environment and the mutual interference between multi-lane marking lines, a three-lane detection method based on image morphology segmentation and region growing is proposed.

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