Method of analyzing sequences of road images, device for implementing it and its application to detecting obstacles
First Claim
1. A method of analyzing sequences of image video signals, taken by a camera on board a vehicle, for extracting a contour of a road from the image video signals, comprising the steps of:
- analyzing luminance information of the image video signals to extract contours and regions from the image video signals to generate a mask signal of the road;
analyzing color information of the image video signals comprising the substeps of;
determining average blue, red and green components for points in the image video signals;
comparing the average blue components with the average red and green components for the points in the image video signals; and
determining points at which a deviation between the average blue components and the average red or green components in the image video signals exceeds a first predetermined threshold; and
combining the mask signal of the road from the analyzed luminance information with the determined points from the analyzed color information to extract the contour of the road.
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Abstract
A method and system of analyzing sequences of road images taken by a camera carried on board of a vehicle. A luminance signal of the road images from which contours of the road are extracted is generated. An analysis of color video signals based on the fact that the colorimetric components of a road region in an image do not include a green or red dominant is then combined with the luminance signal processing, in order to confirm, with good reliability, the limits of the road in the image on the basis of the contours. A mask of the road is then established. This method and system are applicable, in particular, to detecting obstacles on the road, and the information which it generates may be combined with information originating from other detectors in an obstacle detection system applicable to motor vehicle traffic.
104 Citations
8 Claims
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1. A method of analyzing sequences of image video signals, taken by a camera on board a vehicle, for extracting a contour of a road from the image video signals, comprising the steps of:
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analyzing luminance information of the image video signals to extract contours and regions from the image video signals to generate a mask signal of the road; analyzing color information of the image video signals comprising the substeps of; determining average blue, red and green components for points in the image video signals; comparing the average blue components with the average red and green components for the points in the image video signals; and determining points at which a deviation between the average blue components and the average red or green components in the image video signals exceeds a first predetermined threshold; and combining the mask signal of the road from the analyzed luminance information with the determined points from the analyzed color information to extract the contour of the road. - View Dependent Claims (2, 3, 4)
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5. A system of analyzing sequences of image video signals, taken by a camera on board a vehicle, for extracting a contour of a road from the image video signals, comprising:
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first analyzing means for analyzing luminance information of the image video signals to extract contours and regions from the image video signals to generate a mask signal of the road; second analyzing means for analyzing color information of the image video signals, the second analyzing means comprising, means for determining average blue, red and green components for points in the image video signals, means for comparing the average blue components with the average red and green components for the points in the image video signals, and means for determining points at which a deviation between the average blue components and the average red or green components in the image video signals exceeds a first predetermined threshold; and combining means for combining the mask signal of the road from the analyzed luminance information with the determined points from the analyzed color information to extract the contour of the road. - View Dependent Claims (6, 7, 8)
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Specification