Color image preprocessing method, road identification method and related device

A color image, road recognition technology, applied in character and pattern recognition, instruments, computer parts and other directions, can solve the problem that road detection technology is easily affected by shadows, combined, only considered, etc., to reduce the incidence of vehicle accidents , good anti-shadow, improve the effect of efficiency

Active Publication Date: 2016-04-13
PEKING UNIV SHENZHEN GRADUATE SCHOOL
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] One of the existing road detection technologies is applied to unstructured roads, that is, rural roads without lane markings, mainly using road surface detection, and the other is applied to structured roads, that is, urban roads with obvious road structures, mainly using Lane marking line detection, these methods in the prior art either only consider the road surface, or only consider the lane markings, and do not combine the two
At the same time, the inventor also found that the road detection technology of the prior art is easily affected by shadows, resulting in frequent errors in the road recognition of the prior art

Method used

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  • Color image preprocessing method, road identification method and related device
  • Color image preprocessing method, road identification method and related device
  • Color image preprocessing method, road identification method and related device

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Embodiment 1

[0041] In an embodiment of the present invention, a color image preprocessing method is provided, comprising the following steps:

[0042] For each pixel in the color image, calculate an eigenvalue according to formula (1), and each eigenvalue forms a characteristic grayscale image;

[0043] S , = max ( R , G , B ) - B max ( R , G , B ) - - - ( 1 )

[0044] Wherein, R, G, and B are the red, green, and blue color component values ​​of the pixel respectively, and S' is the c...

Embodiment 2

[0047] Please refer to figure 1 , in an embodiment of the present invention, a road recognition method is provided, comprising the following steps:

[0048] 101. Perform feature extraction on each pixel in the original image to obtain a feature grayscale image of the original image.

[0049] Preferably, before performing feature extraction, the region of interest of the original image may be extracted first, and the region of interest is an image region where road surfaces are concentrated on the original image. After the region of interest is extracted, the road boundary feature is extracted for each pixel in the region of interest of the original image. The region of interest can be processed intensively, simplifying the process of image processing.

[0050] Wherein, preferably, step 101 specifically includes: using formula (1) to respectively transform the color saturation of each pixel in the original image to obtain the feature value S' of each pixel:

[0051] ...

Embodiment 3

[0086] In an embodiment of the present invention, a color image preprocessing device is provided, which may include:

[0087] The calculation unit is used for calculating each pixel in the color image according to formula (1) to obtain an eigenvalue, and each eigenvalue forms a characteristic grayscale image;

[0088] S , = max ( R , G , B ) - B max ( R , G , B ) - - - ( 1 )

[0089] Wherein, R, G, and B are the red, green, and blue color component values ​​of the pixel re...

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Abstract

The invention discloses a color image preprocessing method, a road identification method and a related device. The invention combines the road detection and lane mark line detection, and defines the characteristic calculation range of the lane mark line detection and a fitting linear parameter scope through the road detection. The invention improves the accuracy and detection accuracy of the lane mark line detection. Particularly, the invention adopts a new road boundary feature extraction method, which has a good shadow resistance effect. The current road identification method is usually failed under the road shadow; and the road identification method is applicable to various-intensity shadow and has good robustness. The embodiment method of the invention can be applicable to the intelligent auxiliary driving and the unmanned driving system and reduces the occurrence rate of the vehicle accident.

Description

technical field [0001] The invention relates to the field of machine vision, in particular to a color image preprocessing method, a road recognition method and related devices. Background technique [0002] At present, automobile safety technology occupies an increasingly important position in automobile manufacturing. The purpose of automobile safety technology is to reduce casualties and losses caused by traffic accidents. Existing vehicle safety technology is mainly based on road detection technology, which actively monitors the road environment and takes measures before accidents occur, which is of great significance to the improvement of traffic safety. [0003] One of the existing road detection technologies is applied to unstructured roads, that is, rural roads without lane markings, mainly using road surface detection, and the other is applied to structured roads, that is, urban roads with obvious road structures, mainly using For lane marking detection, these metho...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/46G06K9/40
CPCG06V20/588G06V10/443G06V10/30G06V10/56G06V2201/09
Inventor 李革应振强
Owner PEKING UNIV SHENZHEN GRADUATE SCHOOL
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