基于RGB熵和改进区域生长的非结构化道路识别方法

doi:10.13229/j.cnki.jdxbgxb20171257

Abstract

Abstract:

Unstructured roads usually do not have leading lines such as lanes, and the road boundary is vague and there exist many interference factors around the roads. Therefore it is not reliable to use the lane keeping system for autopilot and driver assistance system in this kind of roads. By generating the entropy image from original image the minimum difference of histogram of the entropy image is computed, and the difference is used as the segmental threshold to preliminarily segment the image. Then, the improved region growing method is used to extract the lane from the preliminarily segmented image. The real?time quadratic curve is used to establish the lane model, and the improved least square fitting method is applied to effectively avoid noisy points on the edges of lane region and promote the fitting speed. The experimental results show that the improved methods can be used to rapidly extract the lane from road image and fit out the lane line, therefore it helps to achieve visual based lane keeping on unstructured road for autopilot and driver assistance system.

Key words: traffic information engineering and control, unstructured road detection, RGB image entropy, region growing method, quadratic curve model

CLC Number:

U495

Hua⁃yue WU,Li⁃ren DUAN. Unstructured road detection method based on RGB entropy and improved region growing[J].Journal of Jilin University(Engineering and Technology Edition), 2019, 49(3): 727-735.

Figures/Tables 11

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References 16

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帧率/(帧·s^?1)	总帧数	总生成时间/ms	每帧平均时间/ms
20	6000	144 215	24
	12000	287 547	23
	36000	904 671	25
25	7500	157 614	21
	15000	344 752	22
	45000	1080 418	24
30	9000	198 406	22
	18000	414 057	23
	54000	1243 259	23
35	10500	252 467	24
	21000	483 197	23
	63000	1574 945	25

帧率/(帧·s^?1)	总帧数	总识别时间/ms	每帧平均时间/ms
20	6 000	150 347	25
	12 000	299 679	25
	36 000	934 249	25
25	7 500	165 207	22
	15 000	359 814	24
	45 000	1125 574	25
30	9 000	207 581	23
	18 000	426 903	23
	54 000	1297 433	24
35	10 500	253 108	24
	21 000	504 268	24
	63 000	1633 869	25

车速/(km·h^?1)	帧率/(帧·s^?1)	总帧数	完成帧数	完成率 /%	识别间隔距离/(m·帧^?1)
20	15	18 000	18 000	100	0.37
	20	24 000	24 000	100	0.27
	25	30 000	30 000	100	0.22
40	20	24 000	24 000	100	0.55
	25	30 000	30 000	100	0.44
	30	36 000	36 000	100	0.37
60	25	30 000	30 000	100	0.66
	30	36 000	36 000	100	0.55
	35	42 000	41 271	98	0.47
80	30	36 000	36 000	100	0.74
	35	42 000	40 834	97	0.63
	40	48 000	45 273	94	0.55

Unstructured road detection method based on RGB entropy and improved region growing

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