基于方向可调滤波和概率霍夫变换的车道线检测方法

Lane Line Detection Method Based on Steerable Filters and Probability Hough Transform

车道线检测中,车载摄像头采集到的图像包含大量噪声和干扰,为提高车道线检测速度和精度,本文提出了一种基于方向可调滤波和概率霍夫变换的车道线检测方法。通过统计得到车道线方向角的均值和方差,用以确定方向可调滤波器的方向和概率霍夫变换的极角范围,有效地抑制干扰、减小搜索范围、提高了检测速度。由实验结果看,本文方法能有效排除非道路线干扰、准确检测出道路线,具有较高的鲁棒性。

In the lane line detection,images obtained by the vehicle-mounted camera contain a lot of noise and interference.To improve the speed and accuracy of the lane line detection,a lane line detec-tion method is proposed in this paper based on steerable filters and probability Hough transform.The mean and variance of the direction angle of the lane line are obtained by means of statistics to determine the direction of steerable filters and polar angle range of probability Hough transform,which can effectively inhibit interference,reduce the search range,and improve the detection speed.In terms of the experimental results,the proposed method in this paper can effectively eliminate non-lane interference and accurately detect the lane line,and therefore,is characterized by a high robustness.