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Lane Line Detection Method Based on Point Clustering

A lane line detection and lane line technology, which is applied in the field of lane line detection, can solve the problems of unstable judgment of virtual lane line threading.

Active Publication Date: 2021-03-30
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In practice, the existing lane line detection algorithm is unstable for the judgment of virtual lane lines that are easy to pass through.

Method used

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  • Lane Line Detection Method Based on Point Clustering
  • Lane Line Detection Method Based on Point Clustering
  • Lane Line Detection Method Based on Point Clustering

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0025] The image of the lane line to be detected is as follows: figure 2 As shown, the detection method is implemented in C++ programming on the VS2010 platform, and the steps are as follows:

[0026] 1. Canny edge detection

[0027] 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, from image 3 It can be seen that the edge information of the lane line is preserved, but there is still some non-lane line information, and it is necessary to determine the lane where the current vehicle is in the multi-lane situation.

[0028] 2. Hough line detection

[0029] Hough line detection is performed on the image processed by canny edge detection. By setting the maximum line gap maxLineGap in the Hough detection line, the disconnected lane lines on the same line are connected, and the result is as follows Figure 5 , which is critical for th...

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Abstract

The present invention provides a lane line detection method based on point clustering, which applies the idea of ​​coordinate transformation used in Hough detection of straight lines to our lane line detection, and transforms lane line detection into point-to-point clustering; After the x-y coordinate system is mapped to the k-b coordinate system, the center position of the cluster points in the k-b coordinate system is very important. It contains the position and slope information of the lane line. By analyzing this information, the lane line can be effectively extracted . The present invention does not rely too much on the grayscale information of the image, and makes full use of the edge information detected by the canny edge, and extracts the lane line by clustering the discrete points by mapping the straight line from the x-y coordinate system to the k-b coordinate system, so as to realize Detection of lane markings.

Description

technical field [0001] The invention belongs to the field of image processing and pattern recognition, and mainly relates to lane line detection technology. Background technique [0002] Lane line detection is to accurately and quickly find out the position of the lane line in the picture from the picture of the lane through a suitable algorithm. Therefore, the vehicle can calculate the relative position of the vehicle and the lane line through the calibration data of the camera, so as to achieve the purpose of lane warning. The quality of the lane detection algorithm directly affects the performance of the lane departure system. In practice, existing lane line detection algorithms are prone to instability in the judgment of virtual lane lines. The detected lane repeatedly jumps between the real lane line and the virtual lane line, and the tracking will always go wrong when the real lane line is falsely detected. [0003] In the field of digital images, Hough transform is...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00G06K9/62
CPCG06V20/588G06F18/23213
Inventor 解梅刘伸展张锦宇王博
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA