Road line detection method based on concatenated convolutional neural network
A technology of convolutional neural network and detection method, which is applied to biological neural network models, neural architectures, instruments, etc., can solve problems affecting the accuracy and reliability of line detection, increase the calculation cost of ADAS system, etc., and reduce the calculation cost Effect
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[0032] The present invention provides a line detection method based on a cascaded convolutional neural network. The provided technology takes an image sequence collected by a vehicle-mounted camera as an input, and a cascaded convolutional neural network detects a line marking block in a Hough transform. Determine the position of the line in the image. The cascaded convolutional neural network in the present invention includes a first-level convolutional neural network and a second-level convolutional neural network.
[0033] figure 1 Shows a schematic diagram of the marking of the trace area and the extraction of training samples, refer to figure 1 In the embodiment of the present invention, the track line is divided into image blocks along the extending direction thereof, that is, the track line marking block. In the embodiment of the present invention, it is assumed that the road line has a similar width in a local area of the image, the marking part of the road line approxi...
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