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A Method for Extracting White Lines in Green Fields under Complex Light Conditions

An extraction method and light technology, applied in the field of computer vision, can solve the problems of inability to identify and extract white lines, increase the difficulty of white line extraction, etc., achieve the effect of smoothing pictures, reducing the false detection rate of white lines, and improving the degree of adaptability

Active Publication Date: 2021-03-30
ZHEJIANG LAB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This method has a good extraction effect under better lighting conditions, but under complex lighting conditions, especially backlighting conditions, the white line will become very light and similar to the background color, which greatly increases the difficulty of white line extraction
Traditional white line extraction methods cannot effectively identify and extract these white lines

Method used

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  • A Method for Extracting White Lines in Green Fields under Complex Light Conditions
  • A Method for Extracting White Lines in Green Fields under Complex Light Conditions
  • A Method for Extracting White Lines in Green Fields under Complex Light Conditions

Examples

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Embodiment 1

[0084] In this embodiment, the process of extracting the white line in the green field is described by taking the left-eye image acquired by the binocular camera as the object. figure 2 Images taken for different lighting conditions, including figure 2 In (a) the backlight picture, figure 2 In (b) the picture where the white line is extremely inconspicuous, figure 2 In (c) well-lit picture, figure 2 (d) Picture with shifted colors.

[0085] In this embodiment, according to step S1, the size of the picture is unified, and perfect reflective white balance, brightness uniformity and bilateral filtering are performed to obtain a picture data with uniform size and uniform brightness.

[0086] In this embodiment, according to step S2, the green site is extracted through the proportion of the green channel value, and the green site is extracted through multiple expansion, erosion and convex envelope drawing methods;

[0087] In this embodiment, according to step S3, the colo...

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Abstract

The invention discloses a method for extracting white lines in green fields under complex light conditions. First, the initial image is preprocessed by using methods such as perfect reflective white balance, brightness uniformity, and bilateral filtering to obtain a color image with uniform brightness and color. Then, the white part of the picture is separated into a grayscale image by designing a formula and filtered. In order to improve the separation effect of white, a white enhancement formula is designed for processing. In order to improve the bilateral detection effect of inconspicuous white lines, the present invention adopts the canny edge detection algorithm to obtain relatively complete white line edges. Finally, using the characteristic that the two sides of the white line are parallel to each other, the recognition of the white line is realized, and the center line of the white line is calculated to replace the entire white line. Based on the method provided by the invention, the white line extraction effect is very good in photos where the white line is very blurred under complex light conditions.

Description

technical field [0001] The invention belongs to the technical field of computer vision, and in particular relates to a method for extracting white lines in green fields under complex light conditions. Background technique [0002] In the robot football game, it is necessary to collect pictures through the robot's own camera to identify the white line of the green field and realize the positioning of the robot. [0003] The traditional method of extracting white lines on green sites is to convert the color image into a grayscale image according to the standard grayscale conversion formula, then use the binarization method to extract the white part, and finally use the Hough transformation to extract the straight line from the white part. This method has a good extraction effect under better lighting conditions, but under complex lighting conditions, especially backlighting conditions, the white line will become very light and similar to the background color, which greatly inc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00G06T5/00G06T5/30G06T7/11G06T7/13G06T7/62G06T7/70G06T7/90G06K9/62
CPCG06T7/0002G06T5/30G06T7/11G06T7/13G06T7/62G06T7/70G06T7/90G06T2207/10004G06F18/23G06T5/70
Inventor 高广范彦福顾建军朱世强
Owner ZHEJIANG LAB
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