Unstructured road identification method

A road recognition and unstructured technology, applied in the field of computer vision, can solve the problems of reduced template effect, easy to be affected by the environment, serious problems, etc., and achieve the goal of improving accuracy and effectiveness, small time complexity, and good recognition effect Effect

Inactive Publication Date: 2017-03-08
CHENGDU RES INST OF UESTC
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Problems solved by technology

The application obtains the contour image directly through preprocessing, without effective processing, resulting in serious noise pollution of the contour image, which cannot effectively reflect the contour of the road area; using brightness information as the contour to distinguish roads from non-roads is easily affected by the environment Th

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Embodiment Construction

[0045]The invention adopts fusion area features and edge features to identify roads accurately. For complex road conditions in the wild (such as light, shadows, water marks, fallen leaves, and partial occlusion), the mobile robot obtains images with high resolution as much as possible. In the case of relatively dark light, the camera will automatically turn on the infrared light. The amount of information obtained is even more. In the preprocessing stage, it is necessary to perform scale transformation and normalize the value range of pixel values ​​on the basis of basically not affecting road recognition on the acquired above-mentioned images, eliminate the influence of some noise on the image, and transform the image to the color we need Space, the road image is enhanced to make the subsequent edge detection effect more obvious. In the stage of region segmentation, due to the influence of unpredictable and unmanipulable weather environment factors in the natural environment...

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Abstract

The invention discloses an unstructured road identification method, which comprises the steps of: S1, acquiring a color image in front of a mobile robot in the running process, and preprocessing the acquired color image; S2, performing region segmentation on the image obtained by preprocessing; S3, performing edge detection on the preprocessed image; S4, and performing fusion extraction on the image obtained after edge detection, so as to obtain road regions. The unstructured road identification method is implemented by the steps of: firstly, acquiring the color image in front of the mobile robot, and preprocessing the acquired color image; secondly, subjecting the image to region segmentation, and extracting edge features; and finally, fusing region segmentation and edge feature information to obtain the road regions. According to the unstructured road identification method, an OTSU algorithm is adopted in region segmentation, a multi-directional sobel operator edge detection algorithm is adopted in edge detection, the time complexity is small, the algorithms have good identification effect for a new environment, the robustness thereof is greatly enhanced, and the precision and validity of calculation are improved.

Description

technical field [0001] The invention belongs to the field of computer vision, in particular to an unstructured road recognition method. Background technique [0002] At present, the world is in an "intelligent era", and intelligent technologies including intelligent information acquisition, intelligent information processing and intelligent human-computer interaction technology are and will continue to profoundly change people's lives. my country has proposed the strategic deployment of "Made in China 2025", the core of which is to improve the intelligence level of the manufacturing industry. [0003] While traditional smart technologies have brought about tremendous changes to the economy and society, there are still many development bottlenecks. These bottlenecks have made it difficult to cope with the requirements of the modern information society for massive and complex information processing, so a new generation of intelligent revolution is just around the corner. In ...

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Application Information

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IPC IPC(8): G06T7/11G06T7/13G06T7/90G06T7/181G06T7/187
Inventor 张昊龙叶茂陆川廖丹张力张明吴涵莹徐邦焱陈雪陈平汤维
Owner CHENGDU RES INST OF UESTC
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