Image fusion-based monocular vision road identification algorithm

A technology of road recognition and monocular vision, which is applied in the field of computer vision, can solve problems such as poor robustness, and achieve the effect of improving robustness and overcoming influence

Active Publication Date: 2018-03-16
ZHEJIANG UNIV
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AI Technical Summary

Problems solved by technology

Compared with geometric structure-based algorithms, image appearance-based algorithms have better flexibility, but are less robust to complex scenes such as illumination changes.

Method used

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  • Image fusion-based monocular vision road identification algorithm
  • Image fusion-based monocular vision road identification algorithm
  • Image fusion-based monocular vision road identification algorithm

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Embodiment Construction

[0036] The present invention will be further described below in conjunction with drawings and embodiments.

[0037] Embodiments of the present invention are as follows:

[0038] 1) The original image and the illumination-invariant image are processed by a convolutional neural network with two input channels, and the image information is fused during the processing to obtain the probability value that each pixel in the image is a road area;

[0039] The convolutional neural network described in 1.1) includes two parts of an encoding part and a decoding part;

[0040] The coding part of the convolutional neural network includes four layers with the same structure, and each layer includes convolution (Conv), normalization (BN), nonlinear mapping (ReLU) and pooling (Pooling), which are processed sequentially. There is a fusion layer (Concat) between the first layer and the second layer. First, the original image and the illumination-invariant image are respectively processed by t...

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Abstract

The invention discloses an image fusion-based monocular vision road identification algorithm. An original image and an illumination invariant image are processed by using convolutional neural networksof two input channels, and image information is fused in processing to obtain a probability value that each pixel point in the image is a road region; and then a conditional random field is constructed, each pixel point in the image is represented with each node in the conditional random field, and the nodes in the conditional random field are segmented to obtain a road identification result of the whole image. The influence of complex illumination and shadows on road identification is eliminated, so that the road identification accuracy and robustness are improved.

Description

technical field [0001] The invention belongs to the field of computer vision and relates to a monocular vision road recognition algorithm based on image fusion. Background technique [0002] With the rapid development of computer technology, computer vision is widely used in environmental perception tasks of robots and intelligent vehicles, such as road recognition, obstacle recognition, etc. However, in the outdoor environment, the effect of the visual algorithm is affected by complex environmental factors, such as lighting conditions, shadows, etc., which directly affect the appearance and shape of the object in the image, which increases the difficulty of the recognition task and increases the difficulty of the visual recognition algorithm. of complexity. [0003] In previous studies, road recognition algorithms are divided into geometric structure-based and image appearance-based methods. The method based on geometric structure generally uses stereo cameras to capture ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06T5/50G06N3/04
CPCG06T5/50G06T2207/30252G06T2207/20221G06T2207/20084G06T2207/20081G06V20/588G06N3/045
Inventor 陈剑贾丙西王麒张凯祥
Owner ZHEJIANG UNIV
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