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Multi-feature complex lane line extraction method based on visual sense

An extraction method and road line technology, which can be used in image data processing, instrumentation, computing, etc., and can solve problems such as low robustness and poor real-time performance.

Active Publication Date: 2018-04-10
NANJING LES ELECTRONICS EQUIP CO LTD
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AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a complex road line extraction method based on visual multi-features, which can solve the problems of poor real-time performance and low robustness of road line extraction in complex scenes

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  • Multi-feature complex lane line extraction method based on visual sense
  • Multi-feature complex lane line extraction method based on visual sense
  • Multi-feature complex lane line extraction method based on visual sense

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Embodiment Construction

[0033] Such as figure 1 As shown, a complex road line extraction method based on visual multi-features includes the following steps:

[0034] S1: Camera Calibration

[0035] Convert the input image source to a grayscale image, calculate the gradient of the grayscale image, and obtain the gradient image; secondly, use the gradient image to calculate the coordinates of the feature points of the checkerboard grid, obtain the coordinate mapping relationship of the corresponding position through iteration, and calculate the calibration parameter point matrix. The calibration parameter point matrix depicts the calibration correspondence between internal and external parameters of the camera.

[0036] According to the pinhole camera parameter model, the internal parameters of the camera are mainly the coordinates of the principal point (cx ,c y ), and the focal length pixel component f x ,f y . When calibrating the internal parameters, only the coincidence of the vehicle coordin...

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Abstract

The invention discloses a multi-feature complex lane line extraction method based on the visual sense. The multi-feature complex lane line extraction method comprises following steps: (1) camera calibration; (2) perspective transformation correction; (3) image filtering and interest point extraction; (4) fast LSD line detection; (5) false lane line elimination and merging; (6) left and right boundary searching; and (7) lane line information extraction. The multi-feature complex lane line extraction method is advantaged in that the problem that in a complex scene, lane line extraction is poor in real-time performance and low in robustness is solved, relatively-high performances are obtained in two challenging data sets of Caltech and SLD, the average precision of the lane line extraction integrity reaches 92%, the average operating time of a single frame is 35 ms, and the effectiveness of the multi-feature complex lane line extraction method is fully verified.

Description

technical field [0001] The invention relates to the technical field of road safety, in particular to a method for extracting complex road lines based on visual multi-features. Background technique [0002] Road line extraction is an important link in lane departure warning systems and assisted / automatic driving. Due to the complex and changeable road lines in the actual scene, the lack of paint and the influence of the lighting environment, etc., it brings many challenges to the imaging equipment, and also affects the extraction of road line information. Therefore, the research on the extraction method of complex road lines is an urgent problem to be solved. . [0003] For the traditional road line extraction, the current main method is to extract the road line edge map or binary image, use the line detection technology Hough or Radon to generate the road line, and combine the image information to remove the interference noise. At present, domestic and foreign scholars hav...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/13G06T7/80
CPCG06T7/13G06T7/80G06T2207/20024
Inventor 朱伟苗锋司晓云刘文白俊奇马浩郝金双曹新星贺超
Owner NANJING LES ELECTRONICS EQUIP CO LTD
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