一种基于帧间关联的实时车道线检测算法 - 计算机科学.pdf

Vo1. 44 No.2 第 44 卷第2 期 计算机科学 2017 年 2 月 COMPUTER SCIENCE Feb.2017 一种基于帧间关联的实时车道线检测算法 李超刘宏哲袁家政郑永荣 (北京联合大学北京市信息服务工程重点实验室 北京 100101) 摘 要 为了更好地满足车道线检测的实时性和鲁棒性要求，提出一种基于帧间关联的车道线检测算法。根据道路 图像的特征，将图像灰皮化后，采用中值滤泼去除图像采集过程中引入的噪声，再根据自适应闵值边缘提取检测算法， 在提取过程中对原图像进行区域划分，利用改进的 Hough 变换得到车道候选线，建立动态的 ROI，通过帧间关联方法 实现对车道线模型的约束和更新。实验结果表明，基于帧间关联的车道线检测方法不仅降低了图像数据的运算量，缩 减了算法的执行时间，而且提高了算法的鲁棒性。 关键词 车道线检测，帧间关联，边缘检测，Hough 变换，动态 ROI 中图法分类号 TP391 文献标识码 A 001 10. 11896/j. issn. 1002-137叉 2017.02.055 Real-time Lane Detection Algorithm Based on Inter-frame Correlation LI Chao LIU Hong-zhe YUAN Ji在 zheng ZHENG Yong-rong (Beijing Key Laboratory of Information Service Engineering ,Beijing Union University ,Beijing 100101 ,China) Abstract In order to meet the requirements of the real-time and robustness of lae detection algorithrn ,a real-time lane detection algorithrn based on inter-frame correlation was proposed. According to the characteristics of the road image , noise is filtered out by median filter and the lane mark edge is extracted by adaptive threshold for lane detection firsly. Then ,the original image is divided beyond the extraction process. It gets lane candidate lines by improving Hough trans form and builds dynamic ROl Finally ,the lane line model by inter-frame correlation is updated and restricted. The re sults show that the operation amount of image data is simplifi时， the runtime of the algorithm is reduced , and the ro bustness of the algorithm is greatly improved. Keywords Lane detection , Inter-frame correlation , Edge detection