基于形状先验和在线鉴别性分析的道路检测

基于视觉道路检测是无人车视觉导航和高级驾驶员辅助系统的关键技术,本文提出了一种基于道路形状先验和在线鉴别性分析的道路检测方法. 该方法利用已标记道路图像样本,训练得到道路形状字典,进而使用稀疏表示方法识别道路形状类型;通过道路形状的识别,获得准确的道路形状先验信息,从而得到非路区域和道路区域在颜色空间上的分布;基于这两类分布,进一步引入鉴别性在线选择方法寻找最大鉴别颜色通道图像,该通道图像能易于分割出道路区域,从而实现了一种基于鉴别性分析的道路检测方法. 在标准库和自建库上的实验表明本文方法能有效提高道路检测的准确性和鲁棒性. 

Road Detection Based on Shape Prior and Online Discrimination Analysis

Vision based road detection is a key technique in autonomous driving and advance drive assistance system. An approach for vision-based road detection which exploits road shape prior and online discrimination analysis was proposed. With available annotated road images, road shape dictionary was constructed, and sparse representation was applied to classify specific shape of input road images, the road prior which characterizes the layout of the road and off-road region was obtained. Then an online discrimination analysis was applied to choose the best discriminative color channel in which road detection was realized by simple image segmentation. Experimental results on both public and our own database demonstrate the effectiveness of the proposed road detection method.