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A Road Image Segmentation Method Based on Vanishing Point
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An image segmentation and vanishing point technology, applied in the field of image processing, can solve problems affecting the accuracy of road recognition results, low accuracy of road recognition results, long algorithm running time, etc., to reduce algorithm running time, shorten running time, and accurately rate-enhancing effect
Active Publication Date: 2021-03-23
HARBIN INST OF TECH
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[0003] The purpose of the present invention is to provide a road image segmentation method based on vanishing points to solve the problem of low accuracy of road recognition results and long algorithm running time of the traditional road recognition algorithm based on binocular matching, and the problem of road recognition algorithm based on deep learning. It is easy to be affected by sample data, resulting in wrong segmentation and affecting the accuracy of road recognition results
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specific Embodiment approach 1
[0027] Specific implementation mode one: as Figure 1~3 As shown, a road image segmentation method based on vanishing points described in this embodiment is specifically carried out according to the following steps:
[0029] Step 2, change the input road color image into a grayscale image I(x,y), and use the Gabor filter to extract the texture features of the entire grayscale image I(x,y);
[0030] Step 3, the grayscale image I in step 1 1 The horizontal and vertical edge information of (x, y) is intersected with the texture feature of the grayscale image I(x, y) in step 2 to obtain a texture feature image with horizontal and vertical directions. By introducing a confidence function method to...
specific Embodiment approach 2
[0034] Specific embodiment two: the difference between this embodiment and specific embodiment one is: the size of the road color image input in step one is W*H*3; wherein W represents the width of the road color image, and H represents the height of the road color image , 3 represents the three channels of the road color image.
specific Embodiment approach 3
[0035] Specific implementation mode three: as Figure 4 As shown, the difference between this embodiment and the specific embodiments one to two is: the specific process of using the Gabor filter in step 2 to extract the texture features of the entire grayscale image I (x, y) is:
[0036] The Gabor filter filters the grayscale image I(x,y) through a Gaussian window to extract the texture features of the entire grayscale image I(x,y). The Gabor filter formula as follows:
[0037]
[0038] Combine the grayscale image I(x,y) with the Gabor filter formula By performing convolution, the energy response of each point in the grayscale image I(x,y) can be obtained
[0039]
[0040]
[0041]Among them, a=xcosφ+ysinφ, b=-xsinφ+ycosφ; is the radial frequency, c is the multiplication constant, where e is the base number of the natural logarithm function; i represents the unit of imaginary number; φ is the texture direction, where φ∈{0°, 45°, 90°, 135°}; each point in ...
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Abstract
A road image segmentation method based on a vanishing point relates to an image processing method. To solve the problems of low accuracy of road recognition results and long running time of the algorithm in the traditional road recognition algorithm based on binocular matching, and the accuracy of road recognition results based on deep learning road recognition algorithm is easily affected by sample data question. The present invention uses the characteristics of the vanishing point to separate the road part in the image from the part above the road, so that the redundant information of the part above the road in the image can be removed, and the color image of the road after removing the part above the road is extracted and put into a deep learning-based image. Algorithm training, or directly using the road recognition algorithm based on binocular matching, the overall area of the image is reduced after removing the redundant information above the road, so this algorithm shortens the running time and improves the accuracy of road recognition. The image of the drivable road area can be obtained quickly and with high accuracy. The invention is used in the technical field of image processing.
Description
technical field [0001] The invention relates to a road image segmentation method based on vanishing points, belonging to the technical field of image processing. Background technique [0002] The road recognition algorithm hopes to obtain high-accuracy road recognition results with fast processing speed and less algorithm running time. The current mainstream traditional road recognition algorithms can be divided into two types: road recognition algorithms based on binocular matching and deep learning. The disadvantages of the traditional road recognition algorithm based on binocular matching are that the accuracy of the road recognition result is low and the algorithm runs for a long time, so the application is greatly limited. The road recognition algorithm based on deep learning has higher accuracy and longer running time. For example, the patent "Segmentation Model Training Method, Road Segmentation Method, Vehicle Control Method and Device" (CN106558058A) uses unsupervi...
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