CAJ | 학술논문

为提高车道线识别的实时性和可靠性,提出了一种基于改进Hough变换的车道线检测方法;在图像预处理时对不同光照图像进行分类处理,得到二值化图像;利用极角约束Hough变换进行车道线初始定位;根据前一帧图像信息使用基于动态ROI的Hough变换进行车道跟踪;算法加入了车道线检测失效判别模块,以提高检测的可靠性;由于该方法减少了图像空间中被投票的目标点数,缩小Hough变换的投票空间,在一定程度上提高了车道检测的实时性和稳定性,实验结果表明,在结构化道路上,对于不同的路况,算法均具有较好的实时性和鲁棒性.
위제고차도선식별적실시성화가고성,제출료일충기우개진Hough변환적차도선검측방법;재도상예처리시대불동광조도상진행분류처리,득도이치화도상;이용겁각약속Hough변환진행차도선초시정위;근거전일정도상신식사용기우동태ROI적Hough변환진행차도근종;산법가입료차도선검측실효판별모괴,이제고검측적가고성;유우해방법감소료도상공간중피투표적목표점수,축소Hough변환적투표공간,재일정정도상제고료차도검측적실시성화은정성,실험결과표명,재결구화도로상,대우불동적로황,산법균구유교호적실시성화로봉성.
In order to enhance the real-time and stability of lane detection,a method based on improved Hough Transform(HT)is pro-posed.The image classified by illumination is processed by different algorithm during image pretreatment.Lane is initially detected by HT in the area of polar angle constraints.In lane tracking,region of interest(ROI) is established according to last image information and then using HT in the ROI.A judgment module that is responsible for estimating tracking results was used to improve the reliability.The improved HT reduces the total edge points,as a result the computational complexity is decreased and the efficiency is increased.For various kinds of lanes on most structural road,experiment results indicate that the method has good robustness and stability.