Method, apparatus and device for detecting lane lines
First Claim
1. A method for detecting a lane line, comprising:
- determining candidate lane line regions in a lane image by filtering the lane image;
extracting center points for each of the candidate lane line regions, wherein the center points comprise a midpoint between two endpoints of each row in each of the candidate lane line regions;
obtaining a fitting curve of each of the candidate lane line regions by performing curve fitting on the center points of each of the candidate lane line regions;
classifying the candidate lane line regions as rectilinear candidate lane line regions and curvilinear candidate lane line regions according to a slope angle of the fitting curve of each of the candidate lane line regions;
dividing the candidate lane line regions into groups based on the classifying result, wherein each curvilinear candidate lane line region alone forms a group, one or more rectilinear candidate lane line regions form a group and candidate lane line regions in a same group correspond to a same lane line; and
determining two of the groups, which meet a first predetermined condition, as target groups, and recognizing candidate lane line regions in the target groups as lane line regions,wherein the first predetermined condition comprises at least one of;
a distance between lane lines corresponding to the two groups is within a first predetermined range of distance, and an included angle of the lane lines corresponding to the two groups is within a first predetermined range of included angle.
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Accused Products
Abstract
A method for detecting a lane line is provided. The method includes: determining candidate lane line regions in a lane image by filtering the lane image; extracting center points for each candidate lane line region; obtaining a fitting curve of each candidate lane line region by performing curve fitting on the center points of each candidate lane line region; classifying the candidate lane line regions as rectilinear and curvilinear candidate lane line regions according to a slope angle of the fitting curve of each candidate lane line region; dividing the candidate lane line regions into groups based on the classifying result; and determining two groups, which meet a first predetermined condition, as target groups, and recognizing candidate lane line regions in the target groups as lane line regions. Besides, an apparatus and a device for detecting a lane line are further provided.
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Citations
20 Claims
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1. A method for detecting a lane line, comprising:
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determining candidate lane line regions in a lane image by filtering the lane image; extracting center points for each of the candidate lane line regions, wherein the center points comprise a midpoint between two endpoints of each row in each of the candidate lane line regions; obtaining a fitting curve of each of the candidate lane line regions by performing curve fitting on the center points of each of the candidate lane line regions; classifying the candidate lane line regions as rectilinear candidate lane line regions and curvilinear candidate lane line regions according to a slope angle of the fitting curve of each of the candidate lane line regions; dividing the candidate lane line regions into groups based on the classifying result, wherein each curvilinear candidate lane line region alone forms a group, one or more rectilinear candidate lane line regions form a group and candidate lane line regions in a same group correspond to a same lane line; and determining two of the groups, which meet a first predetermined condition, as target groups, and recognizing candidate lane line regions in the target groups as lane line regions, wherein the first predetermined condition comprises at least one of;
a distance between lane lines corresponding to the two groups is within a first predetermined range of distance, and an included angle of the lane lines corresponding to the two groups is within a first predetermined range of included angle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. An apparatus for detecting a lane line, comprising:
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a filtering unit, configured to determine candidate lane line regions in a lane image by filtering the lane image; an extracting unit, configured to extract center points for each of the candidate lane line regions, wherein the center points comprise a midpoint between two endpoints of each row in each of the candidate lane line regions; a first fitting unit, configured to obtain a fitting curve of each of the candidate lane line regions by performing curve fitting on the center points of each of the candidate lane line regions; a classifying unit, configured to classify the candidate lane line regions as rectilinear candidate lane line regions and curvilinear candidate lane line regions according to a slope angle of the fitting curve of each of the candidate lane line regions; a grouping unit, configured to divide the candidate lane line regions into groups based on the classifying result, wherein each curvilinear candidate lane line region alone forms a group, one or more rectilinear candidate lane line regions form a group and candidate lane line regions in a same group correspond to a same lane line; and a first recognition unit, configured to determine two of the groups, which meet a first predetermined condition, as target groups and recognize candidate lane line regions in the target groups as lane line regions, wherein the first predetermined condition comprises at least one of;
a distance between lane lines corresponding to the two groups is within a first predetermined range of distance, and an included angle of the lane lines corresponding to the two groups is within a first predetermined range of included angle. - View Dependent Claims (16, 17, 18, 19)
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20. A device for detecting a lane line, comprising a processor, a memory, a communication interface and a bus system, wherein,
the bus system is configured to couple hardware of the device together; -
the communication interface is configured to implement communication connection between the device and at least one other device; the memory is configured to store program instructions and data; and the processor is configured to read the instructions and the data stored in the memory and perform the following operations; determining candidate lane line regions in a lane image by filtering the lane image; extracting center points for each of the candidate lane line regions, wherein the center points comprise a midpoint between two endpoints of each row in each of the candidate lane line regions; obtaining a fitting curve of each of the candidate lane line regions by performing curve fitting on the center points of each of the candidate lane line regions; classifying the candidate lane line regions as rectilinear candidate lane line regions and curvilinear candidate lane line regions according to a slope angle of the fitting curve of each of the candidate lane line regions; dividing the candidate lane line regions into groups based on the classifying result, wherein each curvilinear candidate lane line region alone forms a group, one or more rectilinear candidate lane line regions form a group and candidate lane line regions in a same group correspond to a same lane line; and determining two of the groups, which meet a first predetermined condition, as target groups, and recognizing candidate lane line regions in the target groups as lane line regions, wherein the first predetermined condition comprises at least one of;
a distance between lane lines corresponding to the two groups is within a first predetermined range of distance, and an included angle of the lane lines corresponding to the two groups is within a first predetermined range of included angle.
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Specification