Pavement pit detection method applied to vehicle-mounted visual system

Abstract

The invention aims to provide a pavement pit detection method applied to a vehicle-mounted visual system. The pavement pit detection method comprises the following steps: S1, image acquisition: acquiring a pavement pit image in front of a driving road as an input image; s2, inverse perspective transformation is performed on the input image, image coordinates are transformed to a world coordinate plane, and a perspective image effect is transformed to an overlooking effect; s3, performing edge extraction on the inverse perspective transformation image; s4, performing morphological processing onthe edge detection result image; s5, closed edge contour detection is carried out, and the area is extracted; and S6, judging the pits in the area, and if the judgment result is yes, outputting the position of the area. According to the invention, pits can be effectively detected and identified.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to a road surface pit detection method applied to a vehicle vision system. Background technique [0002] Potholes generally refer to the concave, bowl-shaped areas of the pavement. In recent years, the hidden dangers brought to traffic safety due to road pits have become more and more serious, resulting in increasing traffic accidents. The road pit detection algorithm based on the vehicle vision system refers to the detection of road pits on the road image ahead of the driving direction through visual methods, and provides early warning of the pit location and guides the driver to avoid it, thereby greatly improving driving safety. [0003] The difficulty of pavement pit detection lies in the need to effectively detect pits on high-speed roads and pits with different shapes. The main difficulties are as follows: (1) Because the actual road is affected by different external...

AI Technical Summary

Problems solved by technology

[0003] The difficulty of road surface pit detection lies in the effective detection of pits on high-speed roads and pits with different shapes. The main difficulties are as follows: (1) Due to the influence of different external forces, different weathering and damage on the actual road The shapes of the formed pits are quite different, and the pits are easily confused with cracks and road plaques

When the pit damage surface is large, the pit is relatively easy to detect, but when the pit damage surface is small, the pit is difficult to detect

(2) When the pit is far away from the car, that is, the imaging area of ​​the pit in the image is small and easy to deform, it is difficult to accurately detect the pit

The main idea is to judge whether the light band imaging of the LED line light source is a straight line. If there are pits on the road surface, the light band will change in shape at the pit, and determine whether there is a pit by changing the shape of the light band. Judgment, there are few researches on vision-based pavement pit detection methods

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