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Method and device for detecting road region as well as method and device for detecting road line

  • US 8,861,791 B2
  • Filed: 12/05/2012
  • Issued: 10/14/2014
  • Est. Priority Date: 12/22/2011
  • Status: Active Grant
First Claim
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1. A road line detection method comprising:

  • obtaining a first disparity map including one or more road regions and a corresponding V-disparity image, the V-disparity image being a lateral view of the first disparity map;

    sequentially detecting plural sequentially adjacent road surfaces by iteratively detecting road surfaces based on corresponding sloped line segments in the V-disparity image from a starting point where disparity and V-value is maximum, each road surface being formed by linear fitting a plurality of reliable points that do not form a vertical line and whose gray levels are greater than a threshold and disparities are less than the reliable points of previously detected road surfaces;

    for each of the detected road surfaces, obtaining a second disparity map; and

    detecting one or more road lines in the second disparity map.

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