Method and system for detecting vehicle position by employing polarization image

摘要

Disclosed are a method and a system for detecting a vehicle position by employing a polarization image. The method comprises a step of capturing a polarization image by using a polarization camera; a step of acquiring two road shoulders in the polarization image based on a difference between a road surface and each of the two road shoulders in the polarization image, and determining a part between the two road shoulders as the road surface; a step of detecting at least one vehicle bottom from the road surface based on a significant pixel value difference between each wheel and the road surface in the polarization image; and a step of generating a vehicle position from the vehicle bottom based on a pixel value difference between a vehicle outline corresponding to the vehicle bottom and background in the polarization image.

主权项

1. A method of detecting a vehicle position by employing a polarization image, comprising:
a polarization image obtaining step of capturing a polarization image by using a polarization camera; a road surface detecting step of acquiring two road shoulders in the polarization image based on a difference between a road surface in the polarization image and each of the two road shoulders in the polarization image, and determining a part between the two road shoulders as the road surface; a vehicle bottom detecting step of detecting at least one vehicle bottom from the road surface based on a pixel value difference between each wheel in the polarization image and the road surface in the polarization image; and a vehicle position generating step of generating a vehicle position from the vehicle bottom based on a pixel value difference between a vehicle outline corresponding to the vehicle bottom in the polarization image and background in the polarization image, wherein, the vehicle bottom detecting step includes,
a step of extracting candidate wheel pixels by carrying out, based on a predetermined pixel threshold value, binarization with regard to the road surface in the polarization image; anda step of adopting scan windows, whose size gradually increase in proportion from top to bottom in the polarization image, to scan the whole road surface in the polarization image at least from top to bottom, and calculating elements of a co-occurrence matrix corresponding to each of the scan windows so as to determine at least one scan window, whose corresponding co-occurrence matrix has an element whose value is greater than a predetermined threshold value, as the vehicle bottom.