Lane-line Detection Algorithm for Complex Road Based on OpenCV

摘要

In order to meet the requirements of the high accuracy and timeliness of lane line detection for the autonomous vehicle camera, a fast detection algorithm based on the combined gradient and color filtering of lane line pixel for the interest model was proposed. Firstly, based on the high contrast between the lane line and the surface of the structured road, the algorithm uses Sobel edge detection operator to detect the edge information of the lane. Then, according to the white and yellow color features of the lane line, the pixel of the lane line is extracted by filtering these two colors in the color space. Finally, a relatively stable lane line extraction method is obtained based on combining the edge gradient and color filter in the region of interest model.Experiments show that the algorithm has high accuracy, fast speed and good robustness, and can meet the requirements of lane line detection under complex road conditions.