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Road detection algorithm of fusion of area and edge information

A technology of road detection and edge information, applied in computing, computer components, character and pattern recognition, etc.

Inactive Publication Date: 2016-12-14
STATE GRID CHONGQING ELECTRIC POWER CO ELECTRIC POWER RES INST +3
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Edge detection is generally based on the local features of the image, which can obtain more accurate edge positions, but often also detects many redundant edges

Method used

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  • Road detection algorithm of fusion of area and edge information
  • Road detection algorithm of fusion of area and edge information
  • Road detection algorithm of fusion of area and edge information

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Embodiment 1

[0092] As shown in the figure, the road detection algorithm for fusing region and edge information provided by this embodiment includes the following steps:

[0093] S1: Acquire road images and use adaptive median filtering to denoise and enhance to obtain enhanced images;

[0094] S2: Select the R component of the enhanced image in the RGB color space, and use the maximum inter-class variance Otsu method to realize the road area segmentation of the image to obtain a binary segmented image, and optimize the binary segmented image with serial mathematical morphology;

[0095] S3: Use the optimal edge detection Canny operator to detect the binary segmented image to obtain the road edge detection information, and use the maximum between-class variance method to calculate the double threshold in the optimal edge detection Canny operator;

[0096] S4: Obtain the road boundary line in the image by using the binary segmentation image and the road edge detection information.

[0097]...

Embodiment 2

[0146] The image preprocessing provided by this embodiment adopts adaptive median filter, which is usually a nonlinear filter, and its processing effect on random noise is better than that of mean filter, and it can maintain the original clear outline of the image. Filter out image noise. However, there are also some problems in the standard median filter. When the filter template is improperly selected or the template is larger, the details of the image will be erased, and edge refinement will appear. Therefore, in order to obtain better denoising effect and edge details, the specific steps of the adaptive median filter in this embodiment are as follows:

[0147] Let S xy When the center is at the pixel point (x, y), it corresponds to the template window. The minimum value z of pixels within the preset template window min =min(S xy ), the maximum value z of pixels in the template window max =max(S xy ), the median z of the pixels in the template window med =med(S xy )...

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Abstract

The present invention discloses a road detection algorithm of fusion of area and edge information. The algorithm comprises: collecting road image, and employing self-adaption median filtering and noise reduction to obtain enhanced images; selecting the R component of the enhanced images in the RGB color space, employing a maximum between-cluster variance (Otsu) method to realize the road area segment of the images to obtain a binary segmentation image, and optimizing the binary segmentation image through adoption of the serial mathematical morphology; detecting the binary segmentation image through adoption of the optimal edge detection Canny detector to detect the binary segmentation image and obtain the road edge detection information, and employing the Otsu method to calculate the dual threshold in the optimal edge detection Canny detector; and employing the binary segmentation image and the road edge detection information to obtain a road border line in the image. The road detection algorithm of fusion of area and edge information employs the image processing technology to detect and extract the road information for the autonomous navigation system of a cable tunnel robot; and moreover, the road detection algorithm of fusion of area and edge information is a self-adaption road border line segmentation fusion method and can obtain a smooth and accurate road edge.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a road detection algorithm for fusing area and edge information. Background technique [0002] Visual navigation is an important technology and research hotspot in the field of intelligent mobile robot research. Detecting and extracting road guidelines is a prerequisite for visual navigation and autonomous walking. Compared with structured roads, unstructured roads have certain complexity and diversity, and the road scene is random. Currently, there is no highly adaptable algorithm for the detection of this type of road. General road detection algorithms are either based on region segmentation or edge detection. Region segmentation is generally based on the global features of the image, and the background region and the target region are segmented, but the edge position of the segmentation is not very accurate. Edge detection is generally based on the local features of the image, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06T7/00
CPCG06T2207/30256G06V20/588
Inventor 周小龙伏进吴彬宫林万欣石为人王成疆王大洪肖杰李新平刘垒李杰林日
Owner STATE GRID CHONGQING ELECTRIC POWER CO ELECTRIC POWER RES INST
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