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Road obstacle detecting method

A technology of obstacle detection and edge detection, which is applied in the direction of instruments, character and pattern recognition, scene recognition, etc., can solve problems such as difficult to estimate losses and pollution, and achieve good reliability and robustness

Inactive Publication Date: 2017-03-29
BEIHAI YISHENGYUAN AGRI TRADE CO LTD
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AI Technical Summary

Problems solved by technology

[0002] The popularity of automobiles has brought many conveniences to people's daily life and travel, but it has also caused some unavoidable social problems, such as vehicle safety, urban traffic congestion, energy waste and environmental pollution. The losses caused by these problems are difficult to estimate, and the injuries caused by traffic accidents caused by automobiles cannot be ignored.

Method used

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Embodiment Construction

[0036] The following specific examples further illustrate the present invention, but are not intended to limit the present invention.

[0037] Experiment 1 is an experiment of road boundary extraction using Hough transform method on structured roads and unstructured roads.

[0038] 1. Structured road boundary extraction experiment

[0039] First, a section of structured road image is selected for processing, the size of the collected image is 512*307 pixels, the resolution of polar radius ρ is set to 1, and the resolution of angle θ is set to 0.5.

[0040] After using Canny edge detection, the image contains a lot of non-road boundaries. The image obtained after taking the Hough transform peaks, in which the first 10 Hough transform peaks are selected, and 10 straight lines are extracted correspondingly. These 10 straight lines contain non-road boundaries. Before the slope is defined, the extraction effect of the road boundary is not ideal. Although the left and right road bo...

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Abstract

The invention discloses a road obstacle detecting method. The method comprises the following steps that S1) a road video image is collected, and graying, filtering and smoothing and image enhancing are carried out; S2) a Canny edge detection method is extract an approximate road boundary; S3) the road boundary is extracted accurately on the basis of Hough transformation; S4) a double adaptive threshold method is used to segment a vehicle bottom shadow; and S5) shadow lines are scanned in a vehicle bottom shadow image from up to bottom and from left to right, and detection for road vehicle obstacles is completed. A road vehicle obstacle detection algorithm based on the vehicle bottom shadow can be used to detect moving vehicles before departure effectively, and the algorithm is highly reliable and robust.

Description

technical field [0001] The invention relates to a method for detecting road surface obstacles. Background technique [0002] The popularity of automobiles has brought many conveniences to people's daily life and travel, but it has also caused some unavoidable social problems, such as vehicle safety, urban traffic congestion, energy waste and environmental pollution. The losses caused by these problems are difficult to estimate, and the injuries caused by traffic accidents caused by automobiles cannot be ignored. Due to the increase in the number of cars and the irregular driving operations of drivers, the frequency of traffic accidents is very high, and the losses and damages caused are shocking. Relevant studies have shown that if the danger of traffic accidents can be detected 1 second in advance and executed immediately The corresponding safety protection operation can avoid the occurrence of most traffic accidents. Many automotive technology research institutions are c...

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Application Information

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IPC IPC(8): G06K9/00
CPCG06V20/588G06V20/58
Inventor 胡克荣
Owner BEIHAI YISHENGYUAN AGRI TRADE CO LTD
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