Lane line detection method based on straight lines with maximum length

A lane line detection and maximum length technology, applied in the field of lane line detection and tracking, can solve problems such as instability, unreliable lane line detection methods, unreliable features, etc., and achieve the effect of ensuring correctness

Inactive Publication Date: 2016-07-27
UNIV OF ELECTRONIC SCI & TECH OF CHINA
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Problems solved by technology

[0002] CN103617412 The lane line detection method based on the vanishing point adopts the process of area segmentation, straight line detection, vanishing point calculation, vanishing line calculation, and reverse solution to the lane line. It is essentially a statistics-based lane line detection method. The effect is better when it is a real lane line, but for the virtual lane line, this method shows its instability, repeatedly jumping between the real lane line and the virtual lane line, and when the real lane line is

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  • Lane line detection method based on straight lines with maximum length
  • Lane line detection method based on straight lines with maximum length
  • Lane line detection method based on straight lines with maximum length

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Embodiment Construction

[0021] The image of the lane line to be detected is as follows: figure 1 As shown, the detection method is implemented in C++ programming on the VS2010 platform, and the steps are as follows:

[0022] 1. Hough line extension based on canny edge detection line:

[0023] In order to eliminate a large amount of interference information and retain the current lane line information, the embodiment selects the bottom 3 / 10 part of the image for canny edge detection. Hough line detection is performed on the image processed by canny edge detection. Different from the classic Hough detection straight line results, such as figure 2 shown. The maximum line gap maxLineGap in the classic Hough detection line is usually set to 5 or other smaller values. The maximum line gap maxLineGap is used to determine whether two line segments with the same slope and intercept and a gap between them are regarded as a straight line. If the gap is greater than this value, it is considered as two line ...

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Abstract

The invention provides a lane line detection method based on straight lines with the maximum length.The lane line detection method includes the steps that 1, the lower half of a driving image is cut out, and edge detection is conducted on the lower half, an image is obtained after edge detection, and Hough straight line expansion is conducted on the image obtained after edge detection; 2, the straight lines, with the maximum length, located at the left side and the right side of the vertical center line of the image are selected from straight lines obtained through Hough straight line expansion; 3, the straight line, with the maximum length, on the left side is used as the left edge, the straight line, with the maximum length, on the right side is used as the right edge to define a binarization processing region, and the binarization processing region is processed in a binarization mode to obtain a binarization graph; 4, Hough straight line detection is conducted on the binarization graph, and the left and right straight lines close to the vertical center line of the image are selected as the true left and right lane lines.Color and shape information of lane line markers is fully used, and correctness of detected lane lines is ensured by using the method based on the straight lines with the maximum length and gray scale verification.

Description

technical field [0001] The invention belongs to image processing and pattern recognition technology, in particular to lane line detection and tracking. Background technique [0002] CN103617412 The lane line detection method based on the vanishing point adopts the process of area segmentation, straight line detection, vanishing point calculation, vanishing line calculation, and reverse solution to the lane line. It is essentially a statistics-based lane line detection method. The effect is better when it is a real lane line, but for the virtual lane line, this method shows its instability, repeatedly jumping between the real lane line and the virtual lane line, and when the real lane line is detected incorrectly The tracking will always go wrong. Considering the fact that there are a large number of virtual lane lines, the lane line detection method based on the vanishing point is unreliable. [0003] The biggest feature of lane markings is color and shape information. Howe...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/46
CPCG06V20/588G06V10/48G06V10/44G06V2201/07
Inventor 解梅刘伸展周扬王建国
Owner UNIV OF ELECTRONIC SCI & TECH OF CHINA
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