Sky detection algorithm based on context inference

A sky detection and context technology, applied in the field of scene understanding, can solve problems such as the similarity between sky and non-sky areas that cannot adapt to complex changes in the sky

Active Publication Date: 2016-04-27
CAPITAL NORMAL UNIVERSITY
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Problems solved by technology

[0005] The purpose of the present invention is to provide a sky detection algorithm based on the context reasoning model, which solves the problem that although the existing algorithms can achieve better results in specific fields, they cannot adapt to complex changes in the sky and the similarity between sky and non-sky areas The problem

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  • Sky detection algorithm based on context inference
  • Sky detection algorithm based on context inference

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Embodiment Construction

[0047] The present invention will be described in detail below in combination with specific embodiments.

[0048] Step 1: Create a sky sample dataset

[0049] For common sky regions, it can be investigated from two different angles of time and weather. Temporalally, the morning sky, midday sky, and evening sky differ significantly in color and brightness, so morning, noon, and evening sky samples should be included in the dataset. Similarly, from the weather point of view, there are significant differences in the characteristics of the sky area under weather conditions such as sunny, cloudy, cloudy, and haze, so the data set should also include different weather conditions such as sunny, cloudy, cloudy, and haze The sky sample below. In the collected image set, an image contains both sky area and non-sky area. Similarly, the non-sky area should also contain samples of different landform features, including cities, villages, grasslands, deserts, forests and other different t...

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Abstract

The invention discloses a sky detection algorithm based on context inference. The algorithm comprises establishment of a sky sample data set, a scene segmentation algorithm, extraction of super-pixel features, classifier training and establishment of a context inference model. A training classifier can be used to detect the sky area preliminarily; the CRF context inference model is established, so that the detection precision is further improved via context limitation, and a detection precision higher than a present algorithm is obtained; and a balance is made between the detection precision and the detection speed, and the practical requirements are met.

Description

technical field [0001] The invention belongs to the technical field of scene understanding and relates to a sky detection algorithm based on context reasoning. Background technique [0002] With the development of computer and robot technology, intelligent robots have been widely used not only in manufacturing, but also in military, civilian, scientific research and many other aspects. This paper discusses in detail the important preprocessing step in vision systems such as ground robots—sky detection—and proposes corresponding algorithms. Sky regions are an important part of outdoor images and provide important information about the surrounding environment. In a ground-based autonomous robot developed by Stanford University, a simple sky recognition algorithm improves road detection. The existing sky detection algorithms mainly include methods based on color prior, methods based on gradient prior and methods based on model fusion. Color prior-based sky recognition algori...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/62G06K9/72G06T7/00
CPCG06T2207/20081G06V20/13G06V30/274G06F2218/02G06F18/2411
Inventor 尚媛园周修庄付小雁丁辉邵珠宏李戈栾中
Owner CAPITAL NORMAL UNIVERSITY
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