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.

Active Publication Date: 2019-04-05
CHANGAN UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to overcome the problem that the traditional lane line detection method based on the spline curve model is susceptible to background interference, resulting in inaccurate or failure of control point positioning, and to provide a lane line detection method

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  • And constraining a non-uniform B spline curve fitting lane line detection method based on an imaging model
  • And constraining a non-uniform B spline curve fitting lane line detection method based on an imaging model
  • And constraining a non-uniform B spline curve fitting lane line detection method based on an imaging model

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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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Abstract

The non-uniform B spline curve fitting lane line detection method based on the imaging model constraint comprises the following steps: firstly, carrying out median filtering and histogram equalizationprocessing on an image to obtain an enhanced lane line image; Secondly, performing edge detection on the image by adopting a Canny operator to obtain a lane line edge image; Then Hough transformationstraight line detection is carried out on the edge image, edge continuity is improved, and meanwhile background interference edges are reduced; Based on the assumption that the 'optical axis of the camera is parallel to the road plane' and the left and right lane lines are parallel to each other, a control point estimation model under the constraint of a lane-camera imaging model is deduced; Andfinally, combining the lane line edge pixel position information to solve non-uniform B spline curve model parameters to realize lane line fitting. According to the method, the control point positioning precision and the lane line detection accuracy can be effectively improved, and the robustness of a lane line detection algorithm based on curve fitting to background interference is improved.

Description

technical field [0001] The invention belongs to the field of traffic video detection, and in particular relates to a lane line detection method based on imaging model constraint non-uniform B-spline curve fitting. Background technique [0002] At present, unmanned driving technology is a research hotspot in the field of intelligent transportation. A large number of research institutes and enterprises at home and abroad have invested a lot in scientific research, which has greatly promoted the rapid development of unmanned driving technology. As the necessary information for driving behaviors such as lane keeping and lane changing, lane lines are an important environmental data in the driving environment perception of unmanned vehicles. Therefore, the performance of lane line detection methods has a great impact on the performance and even The safety of the entire unmanned driving system has a non-negligible impact. [0003] The main purpose of lane line detection is to extr...

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Application Information

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IPC IPC(8): G06K9/00G06T7/13G06T7/73G06T5/00G06T5/40
CPCG06T5/002G06T5/40G06T7/13G06T7/73G06T2207/20032G06T2207/20192G06T2207/30256G06V20/588
Inventor 穆柯楠赵祥模王会峰惠飞卢勇杨澜景首才
Owner CHANGAN UNIV
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