发明名称 |
Method and system for detecting multi-lanes |
摘要 |
A method and a system for detecting a plurality of lanes based on a two-edge limitation are disclosed. The method includes picking up an image in front of a vehicle, and outputting a grayscale image; positioning a road region in the inputted grayscale image, and calculating a road grayscale value based on the road region; calculating angle distribution histograms of horizontal edges on two directions and an angle distribution histogram of a normal direction of pixels in the grayscale image with a grayscale value greater than the calculated road grayscale value; performing a matching of angles corresponding to peak values in the angle distribution histograms so as to obtain matched angles; and performing a straight line fitting for corresponding pixels based on the matched angles, and outputting the fitted straight line as the detected lane. |
申请公布号 |
EP2759959(A3) |
申请公布日期 |
2016.06.08 |
申请号 |
EP20140151990 |
申请日期 |
2014.01.21 |
申请人 |
RICOH COMPANY, LTD. |
发明人 |
HE, NA;HU, PING;SHI, ZHONGCHAO;LU, YAOJIE;WANG, GANG |
分类号 |
G06K9/00;G06K9/46 |
主分类号 |
G06K9/00 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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