同济大学学报（自然科学版）2017，Vol.45Issue(z1)：31-36,6.DOI:10.11908/j.issn.0253-374x.2017.s1.006
基于自适应消失点及时间上下文的光照鲁棒车道线检测
Illumination-Robust Lane Detection Using Adaptive Vanishing Point and Time-Context
摘要
Abstract
Lane detection is a crucial component of many advanced driver-assistance systems.Lane position can help both develop many driving assistance systems such as lane keeping system (LKS),lane departure warning system (LDWS) and achieve vehicle local location and behavior prediction.In this paper,an illumination invariant lane detection method was proposed,making full use of time-space context for robust lane detection.First,the vanishing point was detected adaptively in the strip image by using standard Hough transform.Thus,the region of interest (ROI) can be obtained adaptively for computation reduction.Then,considering the time-context information of the image sequences,a procedure for generating the time slice image used to acquire the lane marks key points was designed.In addition,tophat processing was utilized to enhance contrast degree of the time slice image for better segmentation between the lane marks and road under the noise and low illumination.Finally,the method for predicting the position of current lane marks was given.Several driving scenarios were tested.The experiment results show that the proposed lane detection method works well with acceptable performance and has enough tolerance to low illumination,variant illumination,and broken and blurred lanes.关键词
车道线检测/光照鲁棒/时间切片图/霍夫变换/顶帽变换Key words
lane detection/illumination robust/time slice image/Hough transform/tophat分类
信息技术与安全科学引用本文复制引用
陈思汉,黄李波,毕欣,白杰..基于自适应消失点及时间上下文的光照鲁棒车道线检测[J].同济大学学报（自然科学版）,2017,45(z1):31-36,6.基金项目
国家重点研发计划(2016YFB0101101) （2016YFB0101101）
