基于视觉的车道线识别算法研究

石家庄铁道学院毕业设计基于视觉的车道线识别算法研究

Research on Algorithms of Vision-based

Lane Recognition

2009 届电气与电子工程分院

专业自动化

学号 20051773

学生姓名

指导教师

完成日期 2009年5月25日

毕业设计成绩单

毕业设计任务书

毕业设计开题报告

摘要

目前，许多国家有计划地开展了视觉导航系统的研究，其中道路检测是视觉导航系统的重要组成部分,检测的精度直接关系到智能车辆行驶的安全性，因此备受关注。本设计研究基于视觉的道路识别算法。首先分析了已有的图像预处理算法，并根据本设计中图像处理的具体要求，选取了合适的图像预处理算法。提出对获得的彩色图像，采用彩色通道提取法使其灰度化更能增强车道标记线的白色部分；根据车道线倾斜的特征，自定义差分模板处理灰度化后的图像，得到车道线的边缘；为了提高道路识别的实时性和抗干扰能力，论文提出了区域生长法，选取合适的种子点生长出路面区域。然后，根据边缘和区域信息所表示的道路边界线，应该在空间上占据相同或相近的位置，论文提出用融合边缘和路面区域两种信息获取车道线像素点。在获取车道线像素点后，论文采用直线道路模型假设作为约束条件，分别用hough变换及其改进算法和中值截距算法提取车道线，并用MATLAB对算法进行了仿真，得出了改进后的hough变换在车道线检测上具有较好的实时性和鲁棒性的结论。

关键词：图像预处理彩色通道提取区域生长改进的hough变换

Abstract

Recent the research on Visual navigation systems have been developed in many countries. And a lane-detection system is an important component of many visual navigation systems. There has been active research on the lane-detection, because it closely relates to the safety of intelligent vehicles. In this thesis, the road positioning algorithms based on image are researched. At first, the current algorithms of image preprocessing are analyzed. By the specific requirements of the image processing in this thesis, the appropriate algorithm is chosen. For example, in order to get a greylevel image from a colour one, we introduced a method called getting from multicolor channel. As the result, the white line on the road image can be intensified stronger than the other ways. Then given the features of road line, a difference cyclostyle is defined to extract the edge. At the same, in order to improve the real-time performance of roads and anti-jamming capability, regional growth ways is introduced, through it we can chose a proper seed to get a regional road image. Then edge extraction and integration of regional growth way is used to identify the road edge according to marginal and regional information should occupy space in the same or similar position. After getting the road line points, straight road model is considered as the constraints and three algorithms, such as hough transform, improved hough transform algorithm and median of the intercepts algorithm, are established for linear feature extraction. Then there is a comparsion between their advantages and disadvantages by using MATLAB. Finally, a conclusion is drawed that the improved hough transform algorithm can improve the real-time performance of roads better and its robust is also prior to them.

Key words: Image preprocessing Getting from multicolor channel Regional growth way Improved hough transform