Road Marking Extraction from In-Vehicle Video

摘要

A two-stage pipeline includes a first stage that is a static filter applied to an inverse perspective mapping (IPM) image. A SLAT (Symmetrical Local Adaptive Threshold) method, according to some embodiments, is more adaptive to environment changes. Additional geometry restrictions in the static filter remove clutter. The second stage of the pipeline is a dynamic filter. The motion of blobs is analyzed to find regions that look and behave like road marking.

主权项

1. A method comprising:
applying a static filter to locate bright pixels by:
extracting connected components of bright pixels; andapplying geometric restrictions to remove connected components that do not look like road marking; applying a dynamic filter by:
matching the connected components of pixels from a previous input image and a current input image;building a trajectory for the components in the current input image; andremoving components with trajectories that are not substantially along the direction a vehicle is moving.