基于启发式概率Hough变换的道路边缘检测方法

计算机科学 ›› 2013, Vol. 40 ›› Issue (9): 279-283.

基于启发式概率Hough变换的道路边缘检测方法

王燕清,辛柯俊,陈德运,吴剑

哈尔滨理工大学计算机科学与技术学院哈尔滨150080;南京三宝科技股份有限公司南京210049;哈尔滨理工大学计算机科学与技术学院哈尔滨150080;南京三宝科技股份有限公司南京210049

出版日期:2018-11-16 发布日期:2018-11-16
基金资助:
本文受国家科技支撑计划(2011BAF16B01,2011BAK21B00)资助

Road Edge Detection Based on Heuristic Probabilistic Hough Transform

WANG Yan-qing,XIN Ke-jun,CHEN De-yun and WU Jian

Online:2018-11-16 Published:2018-11-16

摘要/Abstract

摘要： 针对非结构化道路的边界检测实时性和鲁棒性的难点,提出了加权Canny边缘检测方法和面向加权Canny边缘图像的启发式概率Hough变换方法；并根据非结构化道路边界不规则的特点和智能车辆路径规划的实际需求,提出了道路边界的双折线模型。与传统的方法相比,不同道路环境下的道路边界检测实验证明了所提算法的有效性和实时性。

关键词: 边缘检测,Hough变换,图像分割,非结构化道路中图法分类号TP242.6+2文献标识码A

Abstract: Considering the difficulty of real-time,robustness for the edge detection in the unstructured road environment,a weighted Canny edges detection method and a heuristic probabilistic Hough transform method for weighted Canny edges image were proposed in this paper．According to the irregular characteristics of the unstructured road and the requirement of the real-time motion planning for intelligent vehicle,the double line segment models of the roadside were proposed．The experiment results in different road environments demonstrate the validity and real-time of the proposed method.

Key words: Edge detection,Hough transform,Image segmentation,Unstructured road

王燕清,辛柯俊,陈德运,吴剑. 基于启发式概率Hough变换的道路边缘检测方法[J]. 计算机科学, 2013, 40(9): 279-283. https://doi.org/

WANG Yan-qing,XIN Ke-jun,CHEN De-yun and WU Jian. Road Edge Detection Based on Heuristic Probabilistic Hough Transform[J]. Computer Science, 2013, 40(9): 279-283. https://doi.org/

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