改进的光照不变道路检测算法

交通运输系统工程与信息 ›› 2017, Vol. 17 ›› Issue (5): 45-52.

• 智能交通系统与信息技术 • 上一篇下一篇

改进的光照不变道路检测算法

杜凯^*1，宋永超¹，巨永锋¹，姚洁茹¹，房建武¹，包旭²

1. 长安大学电子与控制工程学院，西安710064；2. 江苏省交通运输与安全保障重点实验室, 江苏淮安223003

收稿日期:2017-02-15 修回日期:2017-06-21 出版日期:2017-10-25 发布日期:2017-10-30
作者简介:杜凯(1984-)，男，陕西西安人，讲师．
基金资助:
国家自然科学基金/National Natural Science Foundation of China (61603057)；陕西省科技工业攻关项目/Shaanxi Province Science and Technology Industrial Research Projects (2015GY033)；江苏省交通运输与安全保障重点建设实验室开放基金资助/Supported by Jiangsu Province Transportation and Security Key Laboratory Open Fund (TTS2015-04)．

Improved Road Detection Algorithm Based on Illuminant Invariant

DU Kai ¹, SONG Yong-chao¹, JU Yong-feng¹, YAO Jie-ru ¹, FANG Jian-wu ¹, BAO Xu ²

1. Department of Electronic and Control Engineering, Chang’an University, Xi’an 710064, China; 2. Key Laboratory for Traffic and Transportation Security of Jiangsu Province, Huai’an 223003, Jiangsu, China

Received:2017-02-15 Revised:2017-06-21 Online:2017-10-25 Published:2017-10-30

摘要/Abstract

摘要：

针对大多数道路检测方法存在光照变化敏感，阴影导致误检、漏检等问题，提出了一种改进的光照不变道路检测算法.首先将道路图像RGB空间转换为几何均值对数色度空间；然后根据Shannon 熵确定相机轴标定角θ ，利用Chebyshev理论去除θ 奇异值，得到光照无关图Iθ ；其次通过随机抽样方法提取道路样本点，包括道路基准样本点和道路参考样本点；最后建立道路置信区间分类器，将道路从背景中分离出来.实验结果表明，该算法能很好地消除光照变化和阴影对道路检测的影响，检测精度高，能满足实际道路检测实时性要求.

关键词: 智能交通, 道路检测, 光照不变, 辅助驾驶, 阴影去除

Abstract:

Aiming at the problems that most road detection methods are sensitive to variation of illumination and shadow, which lead to false detection or leak detection, improved road detection algorithm based on illumination invariant is proposed. First, the thesis transformed RGB space of road images into logchromaticity space by geometric mean. And then, according to Shannon entropy, camera angle θ of axis calibration is determined. Using Chebyshev’s theory, it removed singular value of θ and got illumination invariant images Iθ . Besides, some sampling points of road are extracted by a random sampling, which include standard sample points and referenced sample points. Finally, a confidence interval classifier of road is established, which could detect road area. The experimental results show that the proposed algorithm not only can effectively eliminate the influence of illuminant variance and shadows on road detection, but also can guarantee high detection precision and real-time requirements.

Key words: intelligent transportation, road detection, illuminant invariance, driver assistance, shadow removed

中图分类号:

TP391.41

杜凯，宋永超，巨永锋，姚洁茹，房建武，包旭. 改进的光照不变道路检测算法[J]. 交通运输系统工程与信息, 2017, 17(5): 45-52.

DU Kai, SONG Yong-chao, JU Yong-feng, YAO Jie-ru, FANG Jian-wu, BAO Xu. Improved Road Detection Algorithm Based on Illuminant Invariant[J]. Journal of Transportation Systems Engineering and Information Technology, 2017, 17(5): 45-52.

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链接本文: http://www.tseit.org.cn/CN/abstract/abstract19483.shtml

http://www.tseit.org.cn/CN/Y2017/V17/I5/45

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改进的光照不变道路检测算法

Improved Road Detection Algorithm Based on Illuminant Invariant

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