Robust vanishing point detection method and device based on response diagram and clustering

Abstract

The invention provides a robust vanishing point detection method and device based on a response diagram and clustering. The method comprises the following steps: obtaining an original image, and preprocessing the original image to obtain a preprocessed image; detecting the preprocessed image through an LSD line segment detection algorithm to obtain information of effective line segments, filtering the effective line segments according to the information to obtain roughing line segments, and performing primary clustering on the roughing line segments to obtain clustered roughing line segments as alternative line segments; calculating a confidence value of each type in the alternative line segments, and obtaining two types of line segments used for calculating vanishing points according to the confidence values and a total response value of the type; and creating a response graph by using the original image, processing the two types of line segments used for calculating the vanishing points, drawing the processed line segments on the response graph, and obtaining the vanishing points according to the drawn response graph. According to the method, the robustness and accuracy of the algorithm are improved through multiple clustering means, the strength and confidence coefficient functions of the line segments are defined, a large amount of interference is eliminated, the calculated amount is reduced, the detection efficiency and speed are improved, and the robustness is high.

Description

technical field [0001] The invention relates to the technical field of computer software, in particular to a robust vanishing point detection method and device based on response graphs and clustering. Background technique [0002] The vanishing point is the point where two or more parallel lines extend to the distant horizon until they intersect in the linear perspective transformation. It is an attribute that must exist in the image collected by the camera. There are many functions of vanishing point, for example, it is used to constrain the direction of lines in the drawing process to make the painting more realistic; in the field of automatic driving, it can be used to constrain the lane line equation and calibrate the extrinsic parameters of the camera (the extrinsic parameters of the calibrated camera can be used for monocular distance measurement). [0003] General vanishing point detection often adopts Hough straight line transformation or probability Hough straight ...

AI Technical Summary

Problems solved by technology

[0005] In view of this, the present invention proposes a robust vanishing point detection method and device based on response graph and clustering, aiming to solve the technical problem that the prior art cannot improve the accuracy of robust vanishing point detection

Images