Dynamic line-detection system for processors having limited internal memory
First Claim
Patent Images
1. A method for detecting a line in an image with limited local memory space, the method comprising:
- computing, using a local memory, a result of a partial conversion of image-space pixel data to Hough-space data;
storing the result of the partial conversion in a one-dimensional accumulator array in the local memory, wherein the result comprises vote counts corresponding to ρ
values for a predetermined value of θ
;
detecting a line present in the partial conversion by finding a local maximum in the vote counts stored in the one-dimensional accumulator array;
if the vote count of the local maximum is greater than vote count of the previously found local maximum associated with other lines detected from previously computed results, storing the line by filling an empty slot in a detected-line array with the line, or by replacing one previously detected line having a smallest vote count in the detected-line array; and
reusing the one dimensional accumulator array in the local memory to compute and analyze further results comprising vote counts corresponding to ρ
values for other values of θ
.
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Abstract
A line-detection system computes, using a local memory, a result of a partial conversion of image-space pixel data from image space to Hough space. The result is analyzed for edges corresponding to a line present in the partial conversion. The line is compared against other lines detected in previously computed partial results to identify a longest line in the image.
25 Citations
23 Claims
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1. A method for detecting a line in an image with limited local memory space, the method comprising:
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computing, using a local memory, a result of a partial conversion of image-space pixel data to Hough-space data; storing the result of the partial conversion in a one-dimensional accumulator array in the local memory, wherein the result comprises vote counts corresponding to ρ
values for a predetermined value of θ
;detecting a line present in the partial conversion by finding a local maximum in the vote counts stored in the one-dimensional accumulator array; if the vote count of the local maximum is greater than vote count of the previously found local maximum associated with other lines detected from previously computed results, storing the line by filling an empty slot in a detected-line array with the line, or by replacing one previously detected line having a smallest vote count in the detected-line array; and reusing the one dimensional accumulator array in the local memory to compute and analyze further results comprising vote counts corresponding to ρ
values for other values of θ
. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 22, 23)
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10. A system for detecting lines in an image with limited local memory space, the system comprising:
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a local memory; and a processor connected to the local memory via a high-speed interface, the processor configured for; computing, using the local memory, a result of a partial conversion of image-space pixel data from image space to Hough space; storing the result of the partial conversion in a one-dimensional accumulator array in the local memory, wherein the result comprises vote counts corresponding to ρ
values for a value of θ
;analyzing the result for a line present in the partial conversion by finding a local maximum in the vote counts stored in the one-dimensional accumulator array; if the vote count of the local maximum is greater than vote count of the previously found local maximum associated with other lines detected from previously computed results, storing the line by filling an empty slot in a detected-line array with the line, or by replacing one previously detected line having a smallest vote count in the detected-line array; and computing, analyzing, and storing further results comprising vote counts corresponding to ρ
values for other values of θ
using the same one dimensional accumulator array in the local memory. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A lane-detection system with limited local memory space for analyzing roadway images received from a vehicle-mounted camera, the lane-detection system comprising:
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a local memory; and a processor connected to the local memory via a high-speed interface, the processor configured for; receiving image-space pixel data from the camera corresponding to detected edges in the roadway image; computing, using the local memory, a result of a partial conversion of the image-space pixel data from image space to Hough space, wherein the result comprises vote counts corresponding to ρ
values for a value of θ
;storing the result of the partial conversion in a one-dimensional accumulator array in the local memory; analyzing the result for an edge corresponding to a line present in the partial conversion by finding a local maximum in the vote counts stored in the one-dimensional accumulator array; if the vote count of the local maximum is greater than vote count of the previously found local maximum associated with other lines detected from previously computed results, storing the line by filling an empty slot in a detected-line array with the line, or by replacing one previously detected line having a smallest vote count in the detected-line array; reusing the one dimensional accumulator array in the local memory to compute and analyze further results comprising vote counts corresponding to ρ
values for other values of θ
; anddetecting a lane based on the identified longest line in the detected line array. - View Dependent Claims (21)
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Specification