Research On Unstructured Road Detection Algorithm Based On Vanishing Point

In recent years,with the rapid development of road traffic and driverless technology,lane line detection technology has clearly developed into a popular research project.Compared with structured road detection,in unstructured road detection,because the road surface does not have clearer boundary lines and road marking lines,and is affected by complex environmental factors,this makes the road detection and identification process more difficult.Therefore,based on theoretical analysis and simulation results,this paper concludes a research on an unstructured road detection algorithm with vanishing points,and conducts in-depth research on each link of lane line recognition.First,the paper introduces the research background and significance of the subject of road detection technology,summarizes the research status at home and abroad,lists the composition and classification of unstructured road algorithms,and summarizes the framework of the entire detection system;Secondly,in the road-based model matching algorithm,different enhancement effects of Canny,Roberts,Sobel,and Laplacian edge detection operators are listed.Then briefly analyze the differences in the detection process of road image detection algorithms based on gray,color and texture features,and summarize the related difficulties;Finally,this paper analyzes the image texture feature extraction,road vanishing point estimation,and road boundary constraints in detail,and proposes an improvement scheme,namely an unstructured road boundary detection algorithm based on Haar-like textures and vanishing points.The algorithm steps are:first design a real and imaginary part template of Haar-like texture in 4 scales and 6 directions,extract the texture feature and main direction of texture of each image pixel,and use orthogonal correction method to texture The main direction is corrected to exclude those insignificant interference points,and then an improved local soft voting method is used to select the estimated vanishing point of the road surface in the triangle voting area for each pixel texture direction,and finally,based on the vanishing point of the road,the main boundary line of the unstructured road is detected and searched by multi-information fusion.In order to be able to quickly and effectively implement unstructured road detection algorithms,this article is a single image for unstructured road detection.Using Visual Studio 2010 development environment and OpenCV 2.4.10 programming language,the algorithm design and improvement are completed on the PC The feasibility of the algorithm is verified by a combination of qualitative analysis and quantitative analysis.Experimental results show that the algorithm proposed in this paper has certain real-time,robustness and accuracy,and provides a reliable theoretical basis for real-time detection of test vehicles.Figure[27]table[4]reference[92]...