关键词: 计算机视觉, 车道线检测, 边缘检测, 二值化, Hough变换

Abstract: Focusing on the problems of lane detection and running deflection for autonomous land vehicles, a reliable approach for fast vision computing is proposed in this paper. Two 5×5 template operators of directional filters are used to extract the edges of the image. The image is binarized with an automatic threshold derived from Otsu algorithm. To reduce the computational work, the position characters of the lanes in the image are concerned to remove the horizontal contour points. Meanwhile, the constraint conditions based on the geometric characteristics are also formulated to eliminate the abundant points. After that, the lanes are detected with Hough transform. With a coordinate system of 3D space, the pinhole camera model is adopted to calculate the deviation angles and the vertical distances of the vehicle to the lanes. These parameters can be applied to estimate the lane departure time with the instant speed of the vehicle, which will be valuable for intelligent control and security early warning of the autonomous land vehicles.

Key words: computer vision, lane detection, edge detection, binarization, Hough transform