A lane line detection method based on imaging model-constrained non-uniform b-spline curve fitting
A lane line detection and imaging model technology, applied in image analysis, image enhancement, image data processing, etc., can solve problems such as failure, interference, and inaccurate positioning of control points, so as to improve accuracy, robustness, and The effect of lane line detection accuracy
Active Publication Date: 2022-07-26
CHANGAN UNIV
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[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 based on imaging model constrained non-uniform B-spline curve fitting , this method can effectively improve the positioning accuracy of control points while taking into account the time cost of the algorithm, obtain better detection results, and effectively improve the efficiency of lane line detection
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[0087] The present invention will be described in detail below with reference to 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 includes 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 to 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 (x, y) and whose size is M×N, and f(a, b) is the gray value of the pixel whose coordinate...
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The lane line detection method based on the non-uniform B-spline curve fitting constrained by the imaging model, firstly performs median filtering and histogram equalization on the image to obtain the enhanced lane line image; secondly, the Canny operator is used to detect the edge of the image. Obtain the lane line edge image; then perform Hough transform straight line detection on the edge image to improve edge continuity and reduce background interference edges; again based on the assumptions of "camera optical axis is parallel to the road plane" and "left and right lane lines are parallel", in the camera On the basis of the geometric imaging model, the control point estimation model under the constraints of the lane line-camera imaging model is derived; finally, the non-uniform B-spline curve model parameters are solved by combining the pixel position information of the edge of the lane line to realize the lane line fitting. The invention can effectively improve the positioning accuracy of the control point and the detection accuracy of the lane line, and improve the robustness of the lane line detection algorithm based on curve fitting to background interference.
Description
technical field [0001] The invention belongs to the field of traffic video detection, in particular to a lane line detection method based on imaging model constraint non-uniform B-spline curve fitting. Background technique [0002] At present, driverless technology is a research hotspot in the field of intelligent transportation. The large amount of scientific research investment by many scientific research institutes and enterprises at home and abroad has greatly promoted the rapid development of driverless technology. As the necessary information for the vehicle to keep the lane, change lanes and other driving behaviors, the lane line is an important environmental data in the perception of the driving environment of the unmanned vehicle. The safety of the entire unmanned vehicle driving system has a non-negligible impact. [0003] The main purpose of lane line detection is to extract the location information of lane lines from video images. At present, the commonly used ...
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IPC IPC(8): G06V20/58G06T7/13G06T7/73G06T5/00G06T5/40
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