基于RGB熵的非结构化道路分割方法

Unstructured road segmentation method based on RGB entropy

根据非结构化道路彩色图像中,道路通常呈现为灰色,非道路区域呈现为彩色的特征,提出一种基于RGB熵的边缘到边缘非结构化道路分割方法。计算RGB熵直方图的最小差值,选取RGB熵的阈值,初步检测出道路与非道路区域;将初步检测结果图像划分成多个方格,计算每个方格内黑白像素比例,转换成二值图像;采用轮廓跟踪法搜索道路左右边缘方格,采用边缘到边缘的方法,准确分割道路区域和非道路区域。实验结果表明,该方法能较好分割非结构化道路,抗干扰能力强,对道路形状不敏感,计算量较小,符合无人驾驶系统实时性要求。

In color image of unstructured road,road is usually gray,while non-road area is colored. According to this feature,aside-to-side method for road segmentation based on RGB entropy was proposed. The RGB entropy threshcounting the RGB entropy histogram＇s minimum difference,which was used to detect the road and non-road prelimresult image was divided into many squares,and the proportions of black and white pixels in each square were calculated and con-verted to two values. The lett and right boundary squares were searched using contour tracing method,and road area and non-road area were segmented accurately using side-to-side method, Experimental results show that this method is effective in the segmentation of unstructured road , and is insensitive to the interference and the shape of road. At the same time,the method has small amount of calculation,so it meets real-time requirements for the vehicle automatic driving system.