And constraining a non-uniform B spline curve fitting lane line detection method based on an imaging model
A lane line detection and imaging model technology, applied in image analysis, image enhancement, image data processing, etc., can solve problems such as inaccurate positioning of control points, failure, interference, etc.
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[0087] The present invention will be described in detail below in conjunction with the accompanying drawings.
[0088] The non-uniform B-spline curve fitting lane line detection method based on imaging model constraints provided by the present invention comprises the following steps:
[0089] Step 1: Image preprocessing;
[0090] Obtain the original lane line image I from the lane line standard image library in the Carnegie Mellon image database, perform median filtering on the original lane line image I to remove salt and pepper noise, and then perform histogram equalization to enhance the brightness and contrast of the image. Make the edge features stand out and get the enhanced lane line image I 1 .
[0091] Median filter function f^(x,y)
[0092]
[0093] Where f^(x,y) is the median filter output, S xy Indicates the coordinate group of a rectangular sub-image window whose center is at (x, y) and whose size is M×N. f(a, b) is the gray value of the pixel whose coordin...
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