车道线检测(opencv)


Please note that my new updated homepage is at  mohamedaly.info

Caltech Lane Detection Software

Description

This package contains C/C++ and Matlab source code that implements the work in [1]. It implements a real time lane detection system for single images by fitting robust Bezier splines. It can detect all lanes in the street, or the two lane markers of the current lane. To quickly see it in action, download the software below and also the  Caltech Lanes Dataset 

The detection runs in real time, about 40-50 Hz and detects all lanes in the street. It was compiled and tested on Ubuntu Lucid Lynx 32-bit machine and Red Hat Enterprise Linux 5.5 64-bit machine. 

It also includes several functionalities that were missing from OpenCV at the time, including:
  • Routines for obtaining the Inverse Perspective Mapping (IPM) of an image i.e. getting a bird's eye view of the road.
  • Routines for conversion to/from image pixel coordinates and coordinates on the road plane (using the ground plane assumption).
  • Robust & RANSAC line fitting.
  • Robust & RANSAC Bezier spline fitting.
  • Bezier spline rasterization and plotting.
  • Bresenham's line raterization.
  • Various utility functions for checking intersections of lines with lines and bounding boxes, checking points inside a rectangle, ... etc.
  • An implementation of a general Hough transform routine for lines.

News

  • October 8, 2010: Version 1.0.

Download

Caltech Lane Detection Software [From  Google Code (zip) or  Local (zip) 258 KB]

Source Code

Project's page on  Google Code.

Dataset

Caltech Lanes Dataset.

More Information

The  Lane Detection Project page has more information.

References

  1. Mohamed Aly, Real time Detection of Lane Markers in Urban StreetsIEEE Intelligent Vehicles Symposium, Eindhoven, The Netherlands, June 2008. [pdf]
  2. CaltechCV Image Labeler: a Matlab script to edit/view the labels in the Caletch Lanes Dataset.
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使用Python和OpenCV可以实现弯曲车道线的检测系统。这个系统可以通过图像处理算法来提取车道线,并估计车道曲率和车辆位置。首先,我们可以使用边缘检测器来过滤掉道路,因为车道线通常具有高对比度。在OpenCV中,我们可以使用Canny边缘检测器来获取图像梯度,从而检测高对比度区域并过滤掉车道标记之外的道路部分。 接下来,我们可以使用霍夫变换来检测图像中的直线。使用OpenCV的HoughLines函数,我们可以将边缘图像作为输入,并设置适当的参数来检测直线。这将为我们提供车道线的直线表示。 然而,弯曲的车道线不是直线,而是曲线。为了检测曲线车道线,我们可以使用多项式拟合方法,例如最小二乘法。通过拟合车道线上的点,可以得到一个曲线方程,从而估计车道的弯曲程度。 另外,我们可以使用透视变换来校正图像,以便更好地观察车道线的形状和位置。透视变换可以将图像从原始视角转换为鸟瞰视角,从而更清晰地显示车道线的形状。 最后,通过计算车道线的曲率和车辆在图像中的位置,我们可以提供数值估计。曲率可以通过车道线的方程来计算,而车辆位置可以通过车道线和图像中心之间的距离来估计。 总结起来,通过使用Python和OpenCV,我们可以实现一个弯曲车道线检测系统,该系统可以通过边缘检测、霍夫变换、多项式拟合和透视变换来提取和检测车道线,并估计车道的弯曲程度和车辆的位置。<span class="em">1</span><span class="em">2</span><span class="em">3</span> #### 引用[.reference_title] - *1* *3* [收藏 实战|OpenCV实时弯道检测(详细步骤+源码)](https://blog.csdn.net/lyk_ffl/article/details/125197165)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v93^chatsearchT3_2"}}] [.reference_item style="max-width: 50%"] - *2* [python基于opencv车道线检测左右转弯原理详解](https://blog.csdn.net/xifenglie123321/article/details/130405717)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v93^chatsearchT3_2"}}] [.reference_item style="max-width: 50%"] [ .reference_list ]
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