DETECTING ROADWAY OBJECTS IN REAL-TIME IMAGES

摘要

The disclosure includes a method that receives a real-time image of a road from a camera sensor communicatively coupled to an onboard computer of a vehicle. The method includes dividing the real-time image into superpixels. The method includes merging the superpixels to form superpixel regions. The method includes generating prior maps from a dataset of road scene images. The method includes drawing a set of bounding boxes where each bounding box surrounds one of the superpixel regions. The method includes comparing the bounding boxes in the set of bounding boxes to a road prior map to identify a road region in the real-time image. The method includes pruning bounding boxes from the set of bounding boxes to reduce the set to remaining bounding boxes. The method may include using a categorization module that identifies the presence of a road scene object in the remaining bounding boxes.

主权项

1. A method for identifying roadway objects for a vehicle, the method comprising:
determining, using a camera sensor communicatively coupled to an onboard computer of a vehicle, a real-time image of a road; dividing the real-time image into superpixels; merging the superpixels to form superpixel regions based on similarity of the superpixels; generating prior maps from a dataset of road scene images, the prior maps including a road prior map; drawing a set of bounding boxes where each bounding box surrounds one of the superpixel regions; comparing bounding boxes in the set of bounding boxes to the road prior map to identify a road region in the real-time image; pruning bounding boxes from the set of bounding boxes that are outside the road region to reduce the set to remaining bounding boxes; and performing feature extraction and categorization to identify objects within the set of remaining bounding boxes.