A monocular vision-based lane line detection and tracking method

A technology of lane line detection and monocular vision, which is applied in the direction of instruments, character and pattern recognition, computer components, etc., to achieve the effect of improving accuracy and real-time performance and suppressing noise
CN109740550AInactive Publication Date: 2019-05-10HARBIN UNIV OF SCI & TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
HARBIN UNIV OF SCI & TECH
Publication Date
2019-05-10
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a monocular vision-based lane line detection and tracking method. The method comprises the following steps of: A, image acquisition; B, image preprocessing; C, detecting whether the image is a first frame image, if yes, sending the image into a first frame image lane line detection module, and if not, sending the image into a tracking process lane line detection module; andD, detecting output results of the first frame image lane line detection module and the second frame image lane line detection module, determining whether the first frame image lane line detection module and the second frame image lane line detection module are the last frames, if yes, ending, and if not, returning to the tracking process lane line detection module for reprocessing. According tothe invention, the research work of lane line detection can be completed. And the lane line detection tracking work of the video stream is completed, and the real-time performance and robustness of the video stream are verified.
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Description

technical field

[0001] The invention relates to the technical field of automobiles, in particular to a method for detecting and tracking lane lines based on monocular vision. Background technique

[0002] The detection of lane lines originated from line segment detection technology. With the upsurge of intelligent transportation and intelligent vehicle research, many experts and scholars have accumulated continuous accumulation of line segment detection technology, and then people have launched in-depth research on new hotspots of lane line detection. Lane line detection refers to the analysis of vehicle driving lane and lane line position information through sensors to calculate the driving area of ​​the vehicle. The sensors used to perceive the road environment mainly include vision sensors and radars. Radar is not sensitive to environmental influences and has strong anti-interference ability, but it is expensive and collects little lane line information, which is prone ...

Claims

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