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Improved Canny lane line edge detection algorithm

An edge detection algorithm and lane line technology, applied in computing, image data processing, instruments, etc., can solve problems such as environmental interference and poor effects, and achieve good robustness

Inactive Publication Date: 2020-10-16
山东派蒙机电技术有限公司
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Problems solved by technology

[0018] The purpose of the present invention is to provide an improved Canny lane line edge detection algorithm, aiming at the problem that the existing lane line detection algorithm is susceptible to environmental interference and poor effect, the present invention is based on the camera imaging model, from the aspect of lane line geometric feature constraints Research on lane line extraction to improve the robustness and accuracy of intelligent vehicle environment perception algorithm

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Embodiment Construction

[0071] The present invention proposes an edge point detection and connection operator based on the gradient amplitude and edge direction on the basis of the traditional Canny operator, making full use of the difference between the noise point and the edge point in the edge direction and the consistency of the edge point in the edge direction It can protect weak edges well while suppressing noise. At the same time, the gradient vector calculation method in the 8-neighborhood is used to reduce the sensitivity to isolated noise.

[0072] The gradient magnitude is calculated by calculating partial derivatives in the x-direction, y-direction, 45° direction, and 135° direction within the 3×3 neighborhood of the pixel. Since the points to be detected are not directly involved in the calculation, the sensitivity of the operator to noise is reduced while ensuring the edge positioning accuracy.

[0073] Partial derivative in X direction:

[0074] P x (x,y)=f(x+1,y)-f(x-1,y)

[0075]...

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Abstract

The invention provides an improved Canny lane line edge detection algorithm which is used for improving robustness and accuracy of an intelligent vehicle environment perception algorithm. The method comprises the steps of (1) inputting a candidate edge image of a gradient amplitude array after non-maximum suppression; (2) scanning the candidate edge image, and judging whether candidate edge pointsexist in eight neighborhoods of an edge point or not; (3) calculating an edge direction angle value corresponding to the point f (x, y) and the first candidate edge point scanned in the eight neighborhoods according to an edge direction criterion; (4) continuing to scan candidate edge points marked as edge points in the eight neighborhoods of the point f (x, y); (5) calculating an edge directiongradient amplitude standard deviation between each candidate edge point meeting the edge direction and the edge point f (x, y); and (6) continuing to scan the candidate edge image, and searching for new candidate edge points until no new unmarked candidate edge points appear. According to the invention, the robustness and accuracy of the intelligent vehicle environment sensing algorithm can be improved.

Description

technical field [0001] The invention relates to the technical field of intelligent car navigation, in particular to an improved Canny lane line edge detection algorithm. Background technique [0002] Environmental perception is an important part of the research on intelligent vehicle visual navigation. In the complex road environment, lane line detection is an important goal in the environment perception link, and the existing algorithms still have room for optimization and improvement in detection accuracy and robustness. [0003] Traditional Canny operator: The basic idea of ​​edge detection is to first detect the edge points in the image, and then connect the edge points into contours according to a certain strategy. Currently, commonly used differential operators include Roberts operator, Prewitt operator, Sobel operator, and Canny operator. Among the above detection operators, the Canny operator has the advantages of low error rate, good location of edge points, and s...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/13G06T7/181G06T7/136G06T5/00
CPCG06T7/13G06T7/181G06T7/136G06T5/70
Inventor 罗映王金祥丁洪磊
Owner 山东派蒙机电技术有限公司
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