J4 ›› 2013, Vol. 35 ›› Issue (5): 100-105.
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BI Jianquan1,2,LU Geng1,JIANG Yongheng1,WANG Jingchun1
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Abstract:
The basis of the autonomous driving system of the microvehicles based on simple visual is the road element detection. Based on the lack of the microvehicles processing capacity and the realtime requirements of the detection and control algorithms, the paper proposed a new feature extraction and tracking algorithm based on the pixel data blocks. We use the fixed OTSU threshold image binarization to reduce the impact of light. The detection experiments show that the rapid structural road elements detection(RSRED) algorithm can extract the lane markings, road signs, zebra crossings and other road elements against the interference of light, shelter, pollution and the vehicle speed definitely influence over detection rate of road elements. Finally the Lanekepping and Overtaking experiments show that the algorithm is efficient and stable.
Key words: visual navigation;road detection;road track;pattern recognition
BI Jianquan1,2,LU Geng1,JIANG Yongheng1,WANG Jingchun1 . Rapid structural road elements detection based on pixels [J]. J4, 2013, 35(5): 100-105.
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http://joces.nudt.edu.cn/EN/Y2013/V35/I5/100