复杂场景非结构化道路消失点检测算法

doi:10.3901/JME.2022.12.121

机械工程学报 ›› 2022, Vol. 58 ›› Issue (12): 121-129.doi: 10.3901/JME.2022.12.121

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复杂场景非结构化道路消失点检测算法

徐建华¹, 豆毅庚², 丁子豪¹, 宋春雷¹, 陈家斌¹, 杨永亮³

1. 北京理工大学自动化学院北京 100081;
2. 西安爱生技术集团有限公司西安 710065;
3. 北京科技大学自动化学院北京 100083

收稿日期:2021-09-29 修回日期:2022-03-29 出版日期:2022-06-20 发布日期:2022-09-14
通讯作者: 豆毅庚(通信作者),男,1996年出生。主要研究方向为组合导航技术与智能控制。E-mail:douyigeng@163.com
作者简介:徐建华,男,1975年出生,博士,副研究员,硕士研究生导师。主要研究方向为组合导航技术与图像识别算法。E-mail:xujianhua@bit.edu.cn;丁子豪,男,1996年出生,硕士研究生。主要研究方向为组合导航技术与强化学习。E-mail:dingzihao@ieee.org;宋春雷,男,1973年出生,博士,副研究员,硕士研究生导师。主要研究方向为组合导航技术与图像识别算法。E-mail:songchunlei@bit.edu.cn;陈家斌,男,1964年出生,博士,教授,博士研究生导师。主要研究方向为惯性器件与组合导航。E-mail:chenjiabin@bit.edu.cn;杨永亮,男,1988年出生,博士,副教授,硕士研究生导师。主要研究方向为机器视觉与强化学习。E-mail:yangyongliang@ustb.edu.cn
基金资助:
国家自然科学基金资助项目（61903028）

Unstructured Road Vanishing Point Detection Algorithm for Complex Scenes

XU Jianhua¹, DOU Yigeng², DING Zihao¹, SONG Chunlei¹, CHEN Jiabin¹, YANG Yongliang³

1. School of Automation, Beijing Institute of Technology, Beijing 100081;
2. Xi'an ASN Technology Group Co., Ltd., Xi'an 710065;
3. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083

Received:2021-09-29 Revised:2022-03-29 Online:2022-06-20 Published:2022-09-14

摘要/Abstract

摘要： 道路消失点检测算法广泛应用于智慧交通、自动驾驶等领域。现有的基于图像纹理特征的道路消失点检测算法易受场景中竖直灯杆等建筑物影响，存在着部分场景下鲁棒性差的问题。针对这一问题，提出一种复杂场景非结构化道路消失点检测算法。首先，该方法通过图像纹理角度特征对投票点权重进行更新，使得竖直建筑物中的图像纹理被削弱；其次，使用区域生长算法得到道路区域并对该区域内的投票点权重进行加强，进而增强图像感兴趣区域的纹理提取。试验表明，提出的算法能够在复杂场景下准确地检测到道路消失点，且具有一定的鲁棒性。

关键词: 消失点检测, Gabor滤波器, 局部区域软投票

Abstract: The road vanishing point detection algorithm is widely used in fields such as intelligent transportation and autonomous driving. Existing road vanishing point detection algorithms based on image texture features are easily affected by buildings such as vertical light poles in the scene, and have the problem of poor robustness in some scenes. In response to this problem, the article proposes an unstructured road vanishing point detection algorithm for complex scenes. First, the method updates the weights of voting points through the angle features of the image texture so that the image texture in the area of the vertical building is weakened; Secondly, the area growth algorithm is used to obtain the road area, and the weight of the voting points in the road area is strengthened, and then Enhanced texture extraction of regions of interest in images. Experiments show that the proposed algorithm can accurately detect the vanishing points of roads in complex scenes and has a certain degree of robustness.

Key words: vanishing point detection, Gabor filter, soft voting in local areas

中图分类号:

TP391

徐建华, 豆毅庚, 丁子豪, 宋春雷, 陈家斌, 杨永亮. 复杂场景非结构化道路消失点检测算法[J]. 机械工程学报, 2022, 58(12): 121-129.

XU Jianhua, DOU Yigeng, DING Zihao, SONG Chunlei, CHEN Jiabin, YANG Yongliang. Unstructured Road Vanishing Point Detection Algorithm for Complex Scenes[J]. Journal of Mechanical Engineering, 2022, 58(12): 121-129.

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复杂场景非结构化道路消失点检测算法

Unstructured Road Vanishing Point Detection Algorithm for Complex Scenes

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