Sky detection algorithm based on context inference

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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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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