基于几何矩采样的车道检测算法  

Lane detection algorithm based on geometric moment sampling

作　　者：宋锐 陈辉[1] 肖志光 许岩岩 Reinhard KLETTE Rui SONG Hui CHEN Zhiguang XIAO Yanyan XU Reinhard KLETTE(School of Information Science and Engineering, Shandong University, Jinan 250100, China Department of Civil and Environmental Engineering, Massachusetts Institute of Technology, Cambridge O2139, USA Electrical ＆ Electronics Department, School of Engineering, Auckland University of Technology, Auckland 1010, New Zealand)

机构地区：[1]山东大学信息科学与工程学院 [2]Department of Civil and Environmental Engineering,Massachusetts Institute of Technology [3]Electrical & Electronics Department,School of Engineering,Auckland University of Technology

出　　处：《中国科学：信息科学》2017年第4期455-467,共13页Scientia Sinica(Informationis)

基　　金：国家自然科学基金(批准号:61332015);山东省自然科学基金(批准号:ZR2013FM032)资助项目

摘　　要：针对现有车道检测算法复杂度较高,难以应用于低功耗便携设备的不足,提出一种基于几何矩采样的新算法,能够快速准确地检测出车道线.首先,通过跳跃式处理连续帧图像,对单帧图分段采样车道信息,获取动态感兴趣区域(ROI);然后,依次标注二值图像中的连通分量,分割出车道信息;最后,分析连通分量的各阶几何矩,分别计算出各段车道线的质心和主轴偏转角,结合二者分段拟合出车道线,实现车道检测.大量实验表明,本文算法具有较高的检测效率,能够快速准确地检测出不同形状的车道线,且在不同光照影响、路面污渍和反光条件下具有良好的适应性,同时能够满足汽车智能驾驶对车道检测的实时性要求.Existing lane detection algorithms come with costs regarding the required memory and the complexity of the algorithms limiting ways of generating versions adaptive to challenging road environments and portable low-power consumption equipments.We propose a new solution for lane detection based on geometric moment sampling.First,the current frame of a recorded video is processed by selecting potential regions of interest（i.e.,potentially containing lane markings） based on piecewise sampling.Then,the visible road surface is segmented by labeling connected components of equivalent pixel values using an image binarization procedure.By analyzing the different order of geometric moments of connected components in the lane region,the centroid and the direction angle of detected parts of lane marking segments are calculated.We combine these calculated parameters;a lane marking segment is finally detected via piecewise curve fitting to the lane marking segment.The algorithm is verified on synthetic and real-word images.Results show that the proposed method not only has real-time performance and a high accuracy in detecting lanes of varying appearance,but also offers convenient adaptation of detection both to light-reflective road surface and further types of lighting disturbances.

关 键 词：辅助驾驶 车道检测 动态感兴趣区域 几何矩 分段采样 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]