Road marking line extracting method based on forward camera head in automatic driving

A technology of road marking and automatic driving, which is applied in the direction of instruments, character and pattern recognition, computer components, etc., can solve the problems of inability to obtain extraction results and interference, reduce the range of extraction accuracy, improve robustness, and execute speed high effect

Active Publication Date: 2016-06-29
WUHAN KOTEI TECH CORP
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Problems solved by technology

[0004] At this stage, most camera-based road marking extraction methods have high requirements on the image acquisition environment. For example, the collected image may only contain the part of the road where the current vehicle is driving. Once it is a

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  • Road marking line extracting method based on forward camera head in automatic driving
  • Road marking line extracting method based on forward camera head in automatic driving
  • Road marking line extracting method based on forward camera head in automatic driving

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Embodiment Construction

[0024] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the invention.

[0025] Such as figure 1 As shown, the present invention provides a method for extracting road markings based on a forward camera in automatic driving, which includes the following steps:

[0026] S1. The forward-facing camera on the self-driving vehicle collects the video stream of the current road scene ahead in real time, and obtains the image data of the current frame, performs inverse perspective transformation matrix operation on each frame of the scene image collected by the camera, and combines the pre-calibrated parameters , to obtain the fragmented orthophoto view in front of...

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Abstract

The invention provides a road marking line extracting method based on a forward camera head in automatic driving. The method comprises steps of obtaining a normal incidence view of a road marking line in front of a current vehicle via reverse perspective transformation; restraining an initial threshold value of current solving road segmentation according to parts of prior knowledge formed based on normal running modes of vehicles; by using the initial threshold value, segmenting the normal incidence view; judging the parallel property presented by edge pixel points and the equidistant property presented by a projection histogram; and extracting road marking lines including lane lines, road traffic signs, vehicle stop markings and zebra marking lines. According to the invention, execution speed is fast; by operating the projection histogram, effects on detection and extraction imposed by incomplete image details can be reduced; robustness of the extracting method is improved; constraints on few prior knowledge are increased; and by adopting the approximate, divide-and-conquer and dimension reduction technological means, the range of the extraction precision is further reduced and processing of sub-regions of parts of road scenes is inhibited.

Description

technical field [0001] The invention relates to the field of traffic information detection in the automatic driving industry, in particular to a method for extracting road markings based on a forward camera in automatic driving. Background technique [0002] With the development of computer science and robotics, self-driving vehicles have been widely used in military, civil and scientific research, etc., and it has concentrated the latest research results of multiple disciplines such as structure, electronics, cybernetics and artificial intelligence. ,with broadly application foreground. [0003] Being able to detect the current road driving environment in real time is the core function of autonomous driving and vehicle autonomous driving technology, and the real-time extraction of road markings such as lane lines and road traffic signs is an important prerequisite for a safe and intelligent driving environment. [0004] At this stage, most camera-based road marking extract...

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Application Information

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IPC IPC(8): G06K9/00
CPCG06V20/588
Inventor 苏晓聪陶靖琦朱敦尧
Owner WUHAN KOTEI TECH CORP
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