CN103902985A - High-robustness real-time lane detection algorithm based on ROI - Google Patents

High-robustness real-time lane detection algorithm based on ROI Download PDF

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CN103902985A
CN103902985A CN201410148832.8A CN201410148832A CN103902985A CN 103902985 A CN103902985 A CN 103902985A CN 201410148832 A CN201410148832 A CN 201410148832A CN 103902985 A CN103902985 A CN 103902985A
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image
lane line
track
real
roi
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CN103902985B (en
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陈孟元
柴灿
郎朗
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Anhui Polytechnic University
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Anhui Polytechnic University
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Abstract

The invention provides a high-robustness real-time lane detection algorithm based on ROI. In order to achieve curve detection, an image is divided into an upper portion and a lower portion, namely a close shot area and a long shot area, and solutions are obtained through Hough and a hyperbolic curve pair model respectively. The whole image is mainly filtered through a transverse gradient operator so that the calculation speed can be increased and the purpose of real-time detection can be achieved; an area of gradient direction angles of a lane boundary image is counted through a sliding ROI window strategy, boundary noise of the abnormal gradient direction angles is eliminated, and therefore the accuracy of lane detection is guaranteed; in the hyperbolic curve pair model adopted in the long shot area, parameters in a close shot model are mainly used as initial parameters, a parameter K is finally determined through a search strategy, and the curve portion is detected. The high-robustness real-time lane detection algorithm is good in robustness in the complex road condition and the complex environment and lane counseling information can be provided in real time.

Description

The real-time track detecting of a kind of strong robustness based on ROI algorithm
Technical field
The present invention relates to driving and use safety monitoring field, be specifically related to the real-time track detecting of a kind of strong robustness based on ROI algorithm.
Background technology
Recently, what ITS became comes into vogue, because people more pay close attention to vehicle safety aspect.There are much research topics based on vision about ITS, comprise that obstacle detection, pedestrian dodge, lane line departure warning, anticollision etc.In these challenging tasks, lane detection is one of most important part of ITS.The main body of this technology is from complex environment, to isolate lane line consulting by some characteristics; But most lane detection technology having existed is very sensitive on the impact of inclement weather and woods shade.Lane detection is an inner important component part of intelligent transportation system (ITS), has proposed a kind of bend detection system under complex environment, for example: on tree shade, complex road condition, road, have road sign.
Current research has realized the detection of lane line by different technology, for example: the algorithm based on color, the algorithm based on edge, the algorithm based on histogram, the algorithm based on visual angle conversion, the algorithm based on model.But the algorithm based on color indicates with only having used an overall threshold value or specific colouring information to remove to extract lane line, but this may receive impact in having shade or bad weather.For the algorithm based on edge, difficult point is the edge that abates the noise.Discuss whole problem in detail although there is document to propose algorithm, also deposited a lot of not enough.For the algorithm based on column, they only can not have could move in other vehicle and road sign thereof before car.Based on the algorithm of visual angle conversion, difficult point is to correct camera, and this algorithm is on slope and inefficent have wind in the situation that.Algorithm based on model replaces lane line with model, and it has better robustness when the consulting of more and lane line disappears for noise.In order to receive more reliable model parameter, apply better noise and reject algorithm.
Summary of the invention
In order to address the above problem, the invention provides the real-time track detecting of a kind of strong robustness based on ROI algorithm, first detect first image to extract adaptive threshold, use subsequently with the transverse gradients operator of adaptive threshold and lane line information is filtered and use the fuzzy strategy of searching to repair lane line information, consider Hough operand, need to get rid of lane line noise and redundancy information, adopt the method based on slip ROI and image association to extract effective wagon diatom; Subsequently, in close shot region, adopt the Hough conversion method of fast zoom table that straight way is carried out search arithmetic and shown; In distant view region, use hyperbolic curve to calculate hyperbolic curve to parameter to model the result of accepting Hough computing, adopt search strategy to determine K parameter values simultaneously, simulate bend track, last output display entirety track.Can there is the accurate lane line information of extracting under the complex situations such as woods shade, other track mark, other vehicle in this method.
In order to achieve the above object, the present invention is achieved by the following technical solutions:
The invention provides the real-time track of a kind of strong robustness based on ROI detecting algorithm, described algorithm specifically comprises the following steps, and step 1, first detects first image to extract initial adaptive threshold;
Step 2 is also set up coordinate system on the image of picked-up, and the upper left corner is initial point, is laterally x axle, is longitudinally y axle; Part near image bottom is called close shot region, away from part be called distant view region;
Step 3, employing are carried out the filtration of lane line information with the transverse gradients operator of adaptive threshold to image greyscale figure, first carry out track information extraction: before carrying out track rim detection, convert RGB image to GTG figure, the formula that changes into GTG figure from RGB model is: ; Wherein R, G, B is the component of numeric distribution in [0,255]; Then adopt the mode of the shade of transverse gradients operator to carry out lane line detecting, threshold value adopts adaptive threshold, and its shade is:
Step 4, offer ROI and extract effective track information:
The Grad of step 4.1 image and direction indication thereof are:
Wherein, with the gradient of representative laterally and longitudinally respectively, its computing shade is as follows:
Step 4.2 will scope is set to , and be quantified as 180 angles, each angle is , calculated direction angle if, do not exist in, seeked advice from and eliminated as boom car diatom;
The pixel that step 4.3 utilization retains carries out preliminary hough conversion, preliminary definite lane line information, and several is set has a window of the slip of certain ROI scope along preliminary lane line information, and to the execution step of moving window one by one 4.2, analyze that to get rid of may be the isolated noise beyond lane line;
Step 4.4 is since second image, adopt lane line consulting to open the little characteristic of image meta amount of movement in front and back, this image and front several images are compared, extract the most effective lane line information to reduce the operand of Hough conversion in the track matching of follow-up straight line;
Step 5, straight way and bend matching:
(1) straight way matching
Adopt Hough to carry out matching to straight line track in image close shot region, its formula is as follows:
Matching adopts Hough conversion method, and concrete steps are as follows:
A) model , each angle and database table, search for Hough conversion, to reduce operand;
B) obtain lane line information figure E and data set S, , wherein m is lane line information pixel number;
C) arrange as initial search point, as d) calculation of parameter, and counter is set, calculate next point by row subsequently ;
If d) current meet , , arrange , until ;
E) retain maximum and E, fitting a straight line is complete;
(2) bend matching
In image distant view region, adopt hyperbolic curve to model, its mathematic(al) representation is:
Wherein, for the ordinate of local horizon in picture plane, K, with for bend parameter;
According to the standard form of Hough space cathetus have:
Contrast can draw: , , ,
Each parameter can calculate by straight line Hough conversion portion, arranges if, matched curve point with moving window central point meet (unit is pixel), ;
(3) export entirety lane line in real time: by step (1) and step (2) gained straight line track and the combination of bending track demonstration, the real-time lane line of output entirety;
Step 6, calculate each moving window parameter and obtain adaptive threshold: since second image, offer ROI scope according to moving window as image subregion, and with this scope, the GTG after changing is desired to make money or profit and carried out adaptive threshold extraction by the method for Otsu, equation expression is:
Wherein t is required adaptive threshold, be i background ratio row, be i background mean value, be i object ratio, be i object average, be i image subregion image average, i is moving window number, and parameter calculation formula is as follows:
??????????
??????????
Wherein, be the ratio of the pixel that in i moving window, GTG numerical value is k, be i the pixel number that moving window GTG numerical value is k, it is the total number of pixel in i moving window;
Threshold operation is:
Wherein, Bin(x, y) be imaging point, f(x, y) be the respective coordinates of original pixel;
Step 7, since second image, first every image performs step six, then performs step three to step 5, exports in real time overall lane line.
Further improvement of the present invention is: described algorithm also comprises: in step 3, to using the lane line information after transverse gradients operator filters to search for repair strategy generally, search for the shade that repair strategy adopts generally and be:
Taking current image lane line information data set as , last is if A, B, C are non-vanishing, D, E wherein have one non-vanishing and upgrade .
As the real-time track detecting of a kind of strong robustness based on ROI algorithm, the present invention has following beneficial effects:
1. realized the real-time detecting of the lane line in embedded system, operand has had significant raising than current most algorithms.
2. robust performance is strong, for example, at complicated road environment: have extremely strong stability in the situation such as tree shade, road sign, wagon flow are many, bend, and also have the same new energy of stablizing under weather environment at rainy day and night etc.
3. algorithm is not limited to current main flow algorithm, adopts the algorithm less to processor load, and the greatly lower energy consumption of processor is simplified and stable whole system.
In real time straight bend detection algorithm under complex environment provided by the invention has good robustness in complicated road conditions and environment, and track information can be provided in real time.
Brief description of the drawings
Fig. 1 entire system algorithm flow chart.
Fig. 2 adaptive thresholding algorithm process flow diagram.
Fig. 3 carries the Embedded System Structure figure of algorithm.
Embodiment
In order to deepen the understanding of the present invention, below in conjunction with drawings and Examples, the present invention is described in further detail, this embodiment, only for explaining the present invention, does not form and limits protection scope of the present invention.
As Figure 1-3, the present embodiment provides the real-time track detecting of a kind of strong robustness based on ROI algorithm, and described algorithm specifically comprises the following steps:
Step 1, first detect first image to extract initial adaptive threshold;
Step 2 is also set up coordinate system on the image of picked-up, and the upper left corner is initial point, is laterally x axle, is longitudinally y axle; Part near image bottom is called close shot region, away from part be called distant view region; Because lane line in real process only there will be in certain regional extent, at this, we only process a part for image, to reduce operand.In close shot region, in step subsequently, can carry out Hough search arithmetic, and draw straight line track; In distant view region, can and search for K parameter values with reference to the parameter of Hough computing, to draw bend track.
Step 3, employing are carried out the filtration of lane line information with the transverse gradients operator of adaptive threshold to image greyscale figure, before carrying out track rim detection, need first to convert RGB image to GTG figure, traffic lane line is white, yellow or red normally, so that with road surface forms a sharp contrast, in order to preserve this characteristic of traffic lane line, the employing formula that changes into GTG figure from RGB model is: ; Wherein R, G, B is the component of numeric distribution in [0,255];
The performance of rim detection is important for system, and algorithm must have robustness under atrocious weather and poor environment, potential lane line message can be remained; Simultaneously because this algorithm is to be used in embedded system, so algorithm can not take too much operand, in order to avoid real-time is exerted an influence.The reason that does not adopt canny algorithm is that its load to processor is excessive, adopts and claims the mode of the shade that becomes transverse gradients operator to carry out lane line detecting at this, and threshold value adopts adaptive threshold, and its shade is:
For obtaining the lane line consulting of maximum, improve system robustness, to using the lane line information after transverse gradients operator filters to search for repair strategy generally, search for the shade that repair strategy adopts generally and be:
Taking current image lane line information data set as , last is if A, B, C are non-vanishing, D, E wherein have one non-vanishing and upgrade .
Step 4, offer ROI and extract effective track information:
The Grad of step 4.1 image and direction indication thereof are:
Wherein, with the gradient of representative laterally and longitudinally respectively, its computing shade is as follows:
Step 4.2 will scope is set to , and be quantified as 180 angles, each angle is , calculated direction angle if, do not exist in, seeked advice from and eliminated as boom car diatom;
The pixel that step 4.3 utilization retains carries out preliminary hough conversion, preliminary definite lane line information, and several is set has a window of the slip of certain ROI scope along preliminary lane line information, and to the execution step of moving window one by one 4.2, analyze that to get rid of may be the isolated noise beyond lane line;
Step 4.4 is since second image, adopt lane line consulting to open the little characteristic of image meta amount of movement in front and back, this image and front several images are compared, extract the most effective lane line information to reduce the operand of Hough conversion in the track matching of follow-up straight line;
Step 5, straight way and bend matching:
(1) straight way matching
Adopt Hough to carry out matching to straight line track in image close shot region, its formula is as follows:
Matching adopts Hough conversion method, and concrete steps are as follows:
A) model , each angle and database table, search for Hough conversion, to reduce operand;
B) obtain lane line information figure E and data set S, , wherein m is lane line information pixel number;
C) arrange as initial search point, as d) calculation of parameter, and counter is set, calculate next point by row subsequently ;
If d) current meet , , arrange , until ;
E) retain maximum and E, fitting a straight line is complete;
(2) bend matching
In image distant view region, adopt hyperbolic curve to model, its mathematic(al) representation is:
Wherein, for the ordinate of local horizon in picture plane, K, with for bend parameter;
According to the standard form of Hough space cathetus have:
Contrast can draw: , , ,
Each parameter can calculate by straight line Hough conversion portion, arranges if, matched curve point with moving window central point meet (unit is pixel), , reduce the searching times to curve with this, and make the matched curve actual lane line information point of better fitting;
(3) export entirety lane line in real time: by step (1) and step (2) gained straight line track and the combination of bending track demonstration, the real-time lane line of output entirety;
Step 6, calculate each moving window parameter and obtain adaptive threshold: since second image, offer ROI scope according to moving window as image subregion, and with this scope, the GTG after changing is desired to make money or profit and carried out adaptive threshold extraction by the method for Otsu, equation expression is:
Wherein t is required adaptive threshold, be i background ratio row, be i background mean value, be i object ratio, be i object average, be i image subregion image average, i is moving window number, and parameter calculation formula is as follows:
??????????
??????????
Wherein, be the ratio of the pixel that in i moving window, GTG numerical value is k, be i the pixel number that moving window GTG numerical value is k, it is the total number of pixel in i moving window;
Threshold operation is:
Wherein, Bin(x, y) be imaging point, f(x, y) be the respective coordinates of original pixel;
Step 7, since second image, first every image performs step six, then performs step three to step 5, exports in real time overall lane line.
The present embodiment is a kind of in real time straight bend detection method under complex environment, first adopt with the transverse gradients operator of adaptive threshold image greyscale figure is carried out to the filtration of lane line information, and adopt the lane line consulting of searching for generally after strategy repairing is filtered, improve the accuracy of system robustness and lane detection; Then adopt slip ROI window policy statistics lane boundary information figure gradient direction angle, the border noise information of rejecting abnormalities gradient direction angle, an associated front and back image lane line information, reduces redundancy lane line border information, to reduce Hough translation operation amount simultaneously.Straight line track part proposes a kind of Hough conversion method of fast zoom table, detects for straight line; Bend part adopts hyperbolic curve to model, and its initial parameter value is undertaken in straight line track part, and finally determines its K parameter by search strategy, realizes the detecting of bend part.This algorithm has good robustness in complicated road conditions and environment, and track information can be provided in real time.

Claims (2)

1. the real-time track detecting of the strong robustness based on a ROI algorithm, is characterized in that: described algorithm specifically comprises the following steps:
Step 1, first detect first image to extract initial adaptive threshold;
Step 2 is also set up coordinate system on the image of picked-up, and the upper left corner is initial point, is laterally x axle, is longitudinally y axle; Part near image bottom is called close shot region, away from part be called distant view region;
Step 3, employing are carried out the filtration of lane line information with the transverse gradients operator of adaptive threshold to image greyscale figure, first carry out track information extraction: before carrying out track rim detection, convert RGB image to GTG figure, the formula that changes into GTG figure from RGB model is: ; Wherein R, G, B is the component of numeric distribution in [0,255]; Then adopt the mode of the shade of transverse gradients operator to carry out lane line detecting, threshold value adopts adaptive threshold, and its shade is:
Step 4, offer ROI and extract effective track information:
The Grad of step 4.1 image and direction indication thereof are:
Wherein, with the gradient of representative laterally and longitudinally respectively, its computing shade is as follows:
Step 4.2 will scope is set to , and be quantified as 180 angles, each angle is , calculated direction angle if, do not exist in, seeked advice from and eliminated as boom car diatom;
The pixel that step 4.3 utilization retains carries out preliminary hough conversion, preliminary definite lane line information, and several is set has a window of the slip of certain ROI scope along preliminary lane line information, and to the execution step of moving window one by one 4.2, analyze that to get rid of may be the isolated noise beyond lane line;
Step 4.4 is since second image, adopt lane line consulting to open the little characteristic of image meta amount of movement in front and back, this image and front several images are compared, extract the most effective lane line information to reduce the operand of Hough conversion in the track matching of follow-up straight line;
Step 5, straight way and bend matching:
(1) straight way matching
Adopt Hough to carry out matching to straight line track in image close shot region, its formula is as follows:
Matching adopts Hough conversion method, and concrete steps are as follows:
A) model , each angle and database table, search for Hough conversion, to reduce operand;
B) obtain lane line information figure E and data set S, , wherein m is lane line information pixel number;
C) arrange as initial search point, as d) calculation of parameter, and counter is set, calculate next point by row subsequently ;
If d) current meet , , arrange , until ;
E) retain maximum and E, fitting a straight line is complete;
(2) bend matching
In image distant view region, adopt hyperbolic curve to model, its mathematic(al) representation is:
Wherein, for the ordinate of local horizon in picture plane, K, with for bend parameter;
According to the standard form of Hough space cathetus have:
Contrast can draw: , , ,
Each parameter can calculate by straight line Hough conversion portion, arranges if, matched curve point with moving window central point meet (unit is pixel), ;
(3) export entirety lane line in real time: by step (1) and step (2) gained straight line track and the combination of bending track demonstration, the real-time lane line of output entirety;
Step 6, calculate each moving window parameter and obtain adaptive threshold: since second image, offer ROI scope according to moving window as image subregion, and with this scope, the GTG after changing is desired to make money or profit and carried out adaptive threshold extraction by the method for Otsu, equation expression is:
Wherein t is required adaptive threshold, be i background ratio row, be i background mean value, be i object ratio, be i object average, be i image subregion image average, i is moving window number, and parameter calculation formula is as follows:
?????????
?????????
Wherein, be the ratio of the pixel that in i moving window, GTG numerical value is k, be i the pixel number that moving window GTG numerical value is k, it is the total number of pixel in i moving window;
Threshold operation is:
Wherein, Bin(x, y) be imaging point, f(x, y) be the respective coordinates of original pixel;
Step 7, since second image, first every image performs step six, then performs step three to step 5, exports in real time overall lane line.
2. according to the real-time track detecting of a kind of strong robustness based on ROI shown in claim 1 algorithm, it is characterized in that: described algorithm also comprises: in step 3, to using the lane line information after transverse gradients operator filters to search for repair strategy generally, search for the shade that repair strategy adopts generally and be:
Taking current image lane line information data set as , last is if A, B, C are non-vanishing, D, E wherein have one non-vanishing and upgrade .
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CN105353373A (en) * 2015-12-16 2016-02-24 武汉大学 Hough transformation based ground penetrating radar target extraction method and device
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CN107180228A (en) * 2017-05-02 2017-09-19 开易(北京)科技有限公司 A kind of grad enhancement conversion method and system for lane detection
CN107392139A (en) * 2017-07-18 2017-11-24 海信集团有限公司 A kind of method for detecting lane lines and terminal device based on Hough transformation
CN107392139B (en) * 2017-07-18 2020-10-20 海信集团有限公司 Lane line detection method based on Hough transform and terminal equipment
CN107590438A (en) * 2017-08-16 2018-01-16 中国地质大学(武汉) A kind of intelligent auxiliary driving method and system
CN109543493A (en) * 2017-09-22 2019-03-29 杭州海康威视数字技术股份有限公司 A kind of detection method of lane line, device and electronic equipment
CN107901907A (en) * 2017-09-30 2018-04-13 惠州市德赛西威汽车电子股份有限公司 A kind of method for detecting lane lines based on color lump statistics
CN107901907B (en) * 2017-09-30 2019-12-20 惠州市德赛西威汽车电子股份有限公司 Lane line detection method based on color block statistics
CN108830165A (en) * 2018-05-22 2018-11-16 南通职业大学 A kind of method for detecting lane lines considering front truck interference
CN109087326A (en) * 2018-09-18 2018-12-25 辽宁工业大学 Otsu algorithm based on local auto-adaptive

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