Gradient-enhancement conversion method and system for lane line detection
A technology of lane line detection and conversion method, which is applied in the field of gradient enhancement conversion of lane line detection, can solve the problems that the gradient cannot be kept properly, and the information cannot be recovered, and achieves the best performance, the lane detection rate is improved, and the performance is improved. Effect
Inactive Publication Date: 2017-09-19
开易(北京)科技有限公司
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Therefore, the information lost by the grayscale image conversion process cannot be recovered
Furthermore, the above improved RGB ratio-based method cannot guarantee that the gradient between lane lines and roads remains appropriate under various lighting conditions
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[0054] The principles of the disclosure will now be described with reference to some example embodiments. It can be understood that these embodiments are described only for the purpose of illustrating and helping those skilled in the art to understand and implement the present disclosure, rather than suggesting any limitation to the scope of the present disclosure. The disclosure described herein may be implemented in various ways other than those described below.
[0055] As used herein, the term "comprising" and its variations may be understood as open-ended terms meaning "including but not limited to". The term "based on" may be understood as "based at least in part on". The term "one embodiment" can be read as "at least one embodiment". The term "another embodiment" may be understood as "at least one other embodiment".
[0056] figure 1 It is a schematic flow diagram of the method in an embodiment of the present invention, and specifically includes the following steps:...
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The invention discloses a gradient-enhancement conversion method and system for lane line detection. The gradient-enhancement conversion method comprises the steps of building a color RGB image acquisition module so as to be used for capturing an RGB value of an image, dynamically generating a conversion vector based variations of the RGB value, converting the current frame of the image into a gray image through the conversion vector so as to provide the maximum lane line gradient, performing lane line detection on the converted gray image, extracting training data, training and updating the conversion vector by adopting an LDA algorithm according to the training data, wherein the updated conversion vector comprises enhanced white lane gradient and enhanced white lane gradient, and repeating the above steps so as to realize continuous conversion. The gradient-enhancement conversion method in the invention is applicable to illumination robust lane line detection and generates the optimal RGB weight, thereby enabling the lane line boundary gradient on the road to be maximized, and being capable of better differentiating lane lines and the road. In addition, the gradient-enhancement conversion method greatly improves the lane line detection rate through being verified by lane line detection.
Description
technical field [0001] The invention relates to computer vision technology of an advanced driving assistance system, in particular to a gradient enhancement conversion method and system for lane line detection, which can be used for illumination robust lane line detection. Background technique [0002] With the increase in the number of vehicles, the number of car accident victims is increasing every year. Many accidents are caused by a lack of awareness of driving conditions due to careless drivers or visual distractions. Advanced Driver Assistance Systems (ADAS) are an important technology to reduce such accidents. Lane detection and tracking is the basic module of ADAS and the core of lane departure warning system and lane keeping system. Additionally, the detected lane position information can be used to detect approaching vehicles and obstacles. [0003] Usually the lane line detection algorithm uses the following three steps: [0004] Lane feature extraction, outli...
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IPC IPC(8): G06K9/00G06K9/46G06K9/62
CPCG06V20/588G06V10/44G06V10/48G06F18/2132G06F18/214
Inventor 刘鹏
Owner 开易(北京)科技有限公司